Abstract
This paper deals with the design problem of decentralized PID control systems.An automatic tuning algorithm based on the partial model matching on the frequency domain for the decentralized PID controller is presented.In the tuning scheme, the partial model marching between the loop transfer function of the control system and a desired open-loop model at some frequency points is considered.The introduction of compensators, a parallel feedforward compensator (PFC) and a pre-compensator, is also considered in order to guarantee the stability of the decentralized control system.It is shown that the diagonal-dominance, which is necessary to realize a stable decentralized contorl system, can be relaxed by introducing a PFC.Further, robust stability of the resulting control system is analyzed and a guiding principle for the design of the decentralized PID control system will be proviede.
