On PID Design Constraints in Relation to Control of Strictly Metzler Linear MIMO Systems

Abstract

For time-invariant Metzler linear MIMO systems, this paper proposes an original approach reflecting necessary matching conditions, specifically structural system constraints and necessary positiveness in solving the problem of MIMO PID control. Covering the matching conditions by the supporting structure of measurement, refining the controller and system parameter constraints and introducing enhanced equivalent system descriptions, the reformulated design task is consistent with PID control law parameter representation and is formulated as a linear matrix inequality feasibility problem. Characterization of the PID control law parameters is permitted to highlight dynamical properties of the closed-loop system and the structural influence of the control derivative gain value in the design step. For the first time, the paper comprehensively sets the synthesis standard for PID control of MIMO Metzler systems because others for the given task have not been created at present.