Abstract
In this paper we study a method for designing a velocity-type PID controller which can assign pole and zero locations of multi-input systems. The basic idea of our synthesis is to draw a velocity-type PID control law from the state-space method which can assign poles and zeros of system in desired locations. We establish a state feedback control law in a part of input channels to attain the zero assignment and the controllability of the closed loop system. With the help of the controllability, we can deal with the pole assignment problem by means of another state feedback control law in the remaining input channels. Usefulness of the proposed method is illustrated by a numerical example.
