Expanded PID Control of MIMO system

Stabilization Based on Minimum Phase Property and High Gain Feedback

Abstract

This paper is concerned with stability analysis for PID control of multi input and multi output system. The purpose is to determine PID parameter values which asymptotically stabilize the closed-loop system for regulation problem. Main idea is to determine PID parameters based on the minimum-phase property and Lyapunov's direct method. By making zero dynamics asymptotically stable and peforming high gain output feedback we can stabilize the closed-loop system with PID control. The effectiveness of the proposed method is confirmed by simulation results for various plants.