基于Backstepping方法MIMO过程分散PID控制器设计.pdf

Vol. 31, No. 5 ACTA AUTOMATICA SINICA September, 2005 Backstepping-based Decentralized PID Controller Design for MIMO Processes1) ZHANG Yan LI Shao-Yuan (Institute of Automation, Shanghai Jiaotong University, Shanghai 200030) (E-mail: syli@sjtu.edu.cn) Abstract A novel decentralized PID controller design procedure based on backstepping principles is presented to operate multiple-input multiple-output (MIMO) dynamic processes. The first key feature of the design procedure is that a whole MIMO control system is decomposed into multiple control loops, therefore the sub-controllers can be efficiently flexibly designed in parallel prototype. The second key feature is that the decentralized controller has equivalency to those designed by backstepping approach. As a complementary support to the design procedure, the sufficient condition of the whole closed-loop system stability is analyzed via the small gain theorem and it can be proven that the process tracking performance is improved. The simulation results of the Shell benchmark control problem are provided to verify the effectiveness and practicality of the proposed decentralized PID control. Key words Backstepping, decentralized PID control, small gain theorem, Shell benchmark control problem 1 Introduction Decentralized PID control[1,2] for MIMO processes is popular in the chemical and process indus- tries because of its relatively simple structure and fewer tuning parameters. In addition, controller design focuses on single control loop and ha