IMPROVED TUNING TECHNIQUE FOR ROBUST DECENTRALIZED PID CONTROLLERS

The paper presents a further improvement to the decentralized controller design technique for continuous-time uncertain systems first proposed in (Kozáková and Veselý, 2003) and further developed towards securing robust stability and required nominal performance of the uncertain system (e.g. Kozáková and Veselý, 2005; 2006). The proposed approach evolves from the generalized Nyquist stability criterion and the M-Δ structure robust stability conditions adapted for the decentralized control structure, the innovation consists in their interpretation and implementation in the tuning procedure. Robust decentralized controllers designed for two real plants show practical applicability of the proposed design philosophy.