Abstract
Controlled variables in multivariable systems interact each other in general, therefore, it is necessary to remove their interaction sufficiently for the design of control systems. A cross controller was used for removing the interaction thus far mainly, however, it was complicated and the controller was high-order. On the other hand, the precompensator by the inverse Nyquist array method was also used for noninteraction of the controlled variables. However it is difficult to remove the interaction of the controlled system, which has very strong interaction, when the precompensator is used only one. This paper proposes the series and/or parallel connections of the precompensators for noninteracting PID control.
