Novak N. Nedić, Saša Lj. Prodanović, Ljubiša M. Dubonjić

DOI Number
First page
Last page


Appropriate approach to the nature of systems is a significant precondition for its successful control. An always actual issue of its mutual coupling is considered in this paper. A multivariable system with two-inputs and two-outputs (TITO) is in the focus here. The dominant pole placement method is used in trying to tune the PID controllers that should support the decoupling control. The aim is to determine parameters of the PID controllers which, in combination with decoupler, can obtain a good dynamical behavior of the system. Therefore, this kind of the centralized analytically obtained controller is used for object control. Another goal is to simplify the tuning procedure of PID controllers and enlarge the possibility for introducing the given approach into practice. But the research results indicate that the proposed procedure leads to the usage of P controllers because they enable the best performances for the considered object. Also, it is noticed that some differences from the usual rules in selection of the dominant poles gives better results. The research is supported by simulations and, therefore, the proposed method effectiveness, regarding the system behavior quality, is presented on several examples.


Decoupling Control, PID Control, TITO Process, Dominant Pole Placement Method

Full Text:



Nordfeldt, P., Hägglund, T., 2006, Decoupler and PID controller design of TITO systems, J. Process Control, l (16), pp. 923-936.

Vázquez, F., Morilla, F., 2002, Tuning decentralized PID controllers for MIMO systems with decouplers, Proceedings of the 15th IFAC World Congress, Barcelona, Spain.

Morilla F., Vázquez, F., Garrido, J., 2008, Centralized PID control by decoupling for TITO processes, Proceedings of the 13th IEEE International Conference on Emerging Technologies and Factory Automation. Hamburg, Germany, pp. 1318-1325.

Garrido, J., Vázquez, F., Morilla, F., Hägglund, T., 2011, Practical advantages of inverted decoupling, Proceedings of the Institution of Mechanical Engineers, Part I: J. Systems and Control Engineering, 225, pp. 977-992.

Morilla, F., Garrido, J., Vázquez, F., 2013, Control multivariable por desacoplo, Revista Iberoamericana de Automática e Informática industrial, 10, pp. 3-17, (In Spanish).

Prodanović, S., Nedić, N., 2016, Control improvement of a double actuator electrohydraulic servosystem for structural testing, In Proceedings of the 15th Youth Symposium on Experimental Solid Mechanics YSESM 2016, Rimini, Italia.

Singer, G., Meashio, Y., 1995, Analysis of a double actuator electrohydraulic system for structural testing, IEE, Savoy Place, London.

Das, S., Halder, K., Pan, I., Ghosh, S., Gupta, A., 2012, Inverse optimal control formulation for guaranteed dominant pole placement with PI/PID controllers, International Conference on Computer Communication and Informatics (ICCCI -2012), Coimbatore, India.

Zítek, P., Fišer, J., Vyhlídal, T., 2013, Dimensional analysis approach to dominant three-pole placement in delayed PID control loops, J. Process Control, 23, pp. 1063-1074.

Branlea, I., Petrovic, I. and Peric, N., 2002, Toolkit for PID dominant pole design, 9th International Conference on Electronics, Circuits and Systems, 3, pp. 1247-1250.

Zítek, P., Fišer, J., Vyhlídal, T., 2012, Ultimate-frequency based three-pole dominant placement in delayed pid control loop, Proceedings of the 10-th IFAC Workshop on Time Delay Systems, The International Federation of Automatic Control Northeastern University, Boston, USA, pp.150-155.

Li, Y., Sheng, A., Qi, Q., 2011, Further results on guaranteed dominant pole placement with PID controllers, Proceedings of the 30th Chinese Control Conference, Yantai, China, pp. 3756-3760.

Madady, A., Reza-Alikhani, H.R., 2011, First-order controllers design employing dominant pole placement, 19th Mediterranean Conference on Control and Automation Aquis Corfu Holiday Palace, Corfu, Greece, pp.1498-1503.

Åström, K.J., Hägglund, T., 1995, PID Controllers: Theory, Design and Tuning, Research Triangle Park, NC: Instrumental Society of America.

Filipović, V.Ž., Nedić, N.N., 2008, PID Controllers, University of Kragujevac, Faculty of Mechanical Engineering, Kraljevo, (in Serbian).

Wang, Q-G., Zhang, Z., Åström, K.J., Chek, L.S., 2009, Guaranteed dominant pole placement with PID controllers, J. Process Control, 19, pp. 349-352.

Nicolau, V., 2013, On PID Controller Design by Combining Pole Placement Technique with Symmetrical Optimum Criterion, Math. Probl. Eng., (2013), pp. 1-8.

Sadalla, T., Horla, D., 2015, Analysis of simple anti-windup compensation in pole-placement control of a second order oscillatory system, Measurement Automation Monitoring, 61(02), pp. 54-57.

Nedić, N.N., Prodanović, S.Lj., Dubonjić, Lj.M., 2016, Some Considerations on the Decoupling Control of TITO Systems, Proc. XIII International SAUM Conference on Systems, Automatic Control and Measurements, Niš, Serbia.

Rasouli, H., Fatehi, A., Zamanian, H., 2015, Design and implementation of fractional order pole placement controller to control the magnetic flux in Damavand tokamak, Rev. Sci. Instrum., 86(033503), pp. 1-11.

Zhang, Y., Wang, Q-G., Åström, K.J., 2000, Dominant pole placement for multi-loop control systems, Proceedings of the American Control Conference, Chicago, Illinois, pp. 1965-1969.

Lee, J., Edgar T.F., 2006, Multiloop PI/PID control system improvement via adjusting the dominant pole or the peak amplitude ratio, Chem. Eng. Sci., 61, pp. 1658-1666.

Mokadam, H.R., Patre, B.M., Maghade, D.K., 2013, Tuning of multivariable PI/PID controllers for TITO processes using dominant pole placement approach, Int. J. Automation and Control, 7(1/2), pp. 21-41.

Maghade, D.K., Patre, B.M., 2014, Pole placement by PID controllers to achieve time domain specifications for TITO systems, Trans. Inst. Meas. Control, 36(4), pp. 506-522.


  • There are currently no refbacks.

ISSN: 0354-2025 (Print)

ISSN: 2335-0164 (Online)

COBISS.SR-ID 98732551

ZDB-ID: 2766459-4