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

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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

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