Robust Decentralized PI Controller Design Based on Subsystem Pole Placement

This paper proposes a procedure for a robust decentralized controller design based on solving robust control design problems of subsystems' size. To consider the interactions in subsystem controller design, the appropriate interaction measure is discussed and a possible solution is proposed. The resulting decentralized control design scheme including input constraints is illustrated on the laboratory plant of two interconnected DC motor system. Simulation shows successful results for the designed decentralized robust stabilizing PI controller with input constraints.