基于Backstepping方法的MIMO过程分散PID控制器设计

？AnoveldecentralizedPIDcontrollerdesignprocedurebasedonbacksteppingprinciplesispresentedtooperatemultiple-inputmultiple-output(MIMO)dynamicprocesses.ThefirstkeyfeatureofthedesignprocedureisthatawholeMIMOcontrolsystemisdecomposedintomultiplecontrolloops,thereforethesub-controllerscanbeefficientlyflexiblydesignedinparallelprototype.Thesecondkeyfeatureisthatthedecentralizedcontrollerhasequivalencytothosedesignedbybacksteppingapproach.Asacomplementarysupporttothedesignprocedure,thesufficientconditionofthewholeclosed-loopsystemstabilityisanalyzedviathesmallgaintheoremanditcanbeproventhattheprocesstrackingperformanceisimproved.ThesimulationresultsoftheShellbenchmarkcontrolproblemareprovidedtoverifytheeffectivenessandpracticalityoftheproposeddecentralizedPIDcontrol.