Proceedings of 23rd Conference

on Decision and Control

LaS Vega% NV, December 1984 FP9 = 3 ~ 3 0

H.SERAJI

Dept. E E C E , University of New Mexico, Alb.,NM 87131

On leave from S h a r i f L!niversity of Techology,Iran

1.INROWCTION
It i s a well h am eqirical fact that canrplex From eqns . (2)- ( 4 ) , it i s seen that the im-
industrial processes are often controlled satis- plementation of the discrete PID control a lw adds
factorily by ineans of surprisingly s m l e PID 22 new state-variables t o the systemthrough the
(three-term) controllers. Since theintroduction of additional state vectors w(k) and v(k) andhence
d i g i t a l c q u t e r s in control loops, m y analogue increases the order of the system by 29,.
three-tern controllers have been replaced by digital Expanding the system mdel to incorporate the gdditim-
PID algorithm in direct digital control ( D E ) . The a1 state vectors wOC) and v@), from e c p . (1)- (4)
advent of microccmputers in recent years and the we obtain the state mdel of the (e2)th order a%-
consequent ease of d i g i t a l control irplementation nwted open-loop system as
have mde d i g i t a l PID controllers far more attrac-
tive from a practical viewpoint.
The purpose of this paper i s t o develop a sim-
ple nethod f o r the design of discrete d t i v a r i a b l e
PID controllers for linear discrete-time multiva-
riable systems.These controllersare designed t o
achieve specified closed-loop p l e positions so as
t o ensure stability and desirable transient perform-
ance. In the steady state, the inherent feature of
PLD controllers ensures that the system outputs
follow step references in the presence ofTkacces-
sible constant disturbances and in the face of
system F a r a t e r variations.
2 . DESIGN OF DISCFEE PID C0NROLLD.S
The multivariable system t o be controlled i s
described by the linear discrete-time state mdel
x(k + l ) = k ( k )+ Bu(k) + E d(k)

where x i s the n x 1 state vector, u is the m x 1

control input vector, d i s the v x 1 inaccessible
disturbance input vector, y i s the L x 1 vector
of available outputs and the s q l i n g period T i s
defined as the unit oftimeand i s omitted f o r
simplicity. The discrete ?ID control a lw
u(k)=-py(k) WOc)-~Oc) (2)
i s applied t o the system (1) f o r pole placement
where P,Q and R are constant m x ,,proportional,
integral and derivative gain mmices respectively
and w(k) and v(k) are ix 1 state vectors re-
lated t o the integral and the derivative terms
in the controller respectively. The 2 x 1 vec-
t o r w(k) i s the integral of the tracking-error
e&) in discrete form and i s defined by the
difference equation w(k)=w(k-l) + e@)
where e(k)=y,(k)-y(k) and yr(k) i s the 2 x 1
reference (set point) vector.
The integral state vector w(k) satisfies the dis-
crete-time state mdel
woc+l) = w(k) + y,(k+l)-CAxCK)
- CBU (3)- E d (k) (3)
The ;x 1 vector v(k) i s the derivative of the out-
put in discrete formand i s defined by the diff-
erence equation v (k)=y (k) -y (k- 1).
The derivative state vector v(k) satisfies the
discrete-tim state mdel
vOc+l)=(~-C)xOc)~uOc)~d(k) ( 4 )

1721 CH2093-3/84/0000-1721 S 1 .OO G 1984 IEEE

 n <3m-il, all nt2eclosed-loop poles canbe placed
arbitrarily bya PID controller using the above method
and hence closed-loop stability is ensured. When
nl3m-9., (n-h +1+1) closed-loop polesm v e to m-
specified locations. If+thgse pole locations m- are
desirable, the matrices Q, R and the vector q
tered and the design procedure is repeated.
fox some systens withn z h f , the raining (n-WQ+l)
unassignable polesm y dominate the closed-loop re-
sponses or even cause instability.
3. CONJXOLE?. ROBUSTNESS AND " I N G
Consider n m the steady-state characteristics
oftheclosed-loopsystem, Asswring stability,
when the closed-loop system is subjected simul-
Step 3: The unity-rankPID control law taneously to the step reference vector y (k)=Yr
and the step disturbance vector d(k)=D,t6e augmented
~ o C > = - p k 2 y ~ ) S q k 2 w o C ) - r ~ v ~ ) (10) state vectorx$c(k) reaches a constant value in the
steady state. Hencew(lc)=w(k+l) in the steady
where p,q, r and k are m x 1, m x 1, m x 1 and 1 X L state,thu output vector y(k) follows the step ref-
vectors respectivefy, is applied to the systgn erence vectory (k)=Y in the presence of the step
(e+,$*,W:) so as to move 3m additional poles to the disturbance vecEor d$)= D. Fathemre,
speci ied locations k , . . . , Awel while prese?xi.ng the PID controller is robust, namely it preserves
the bl poles assigned in Step 2. On applying (lo), the above steady state characteristics in the
we obtain the closed-loop characteristic polyndal113 face of variations or mcertainties in the system
parameters provided only that the closed-loop
system remains stable.

must simdate the open-loop system and the-con-

as the vectors p,q and r are employed to m v e 3m add- troller on a computer and observe theperfomce
itional pols to .+,. . . ,X3mcL1. of the resulting closed-loop system. At this
stage, the designer may irprove the transient
In order to preserve the L-1 assigned poles at responses by 'tuning' each term in the control-
11,. ..,A&-: irrespective ofp,q and r, frcm eqn. (11) ler independently as
the vectork2 must satisfy the equations u&)* --pYOC) -t B@(k)-~Rv(k)
herea,B and-{ are scalar tuning parameters. By
k2G2( Xi)=O, i=l... k - 1 varying cr,B and Yindependently, the designer can
study the effect of the proportional, integral
Each& X m matrix G, ( Xi) is of unity-rank and has only and derivative termson the transient responses
one linearly indepkdent calm denoted by gi. Thus separately and 'tune' each term to improve the
the vectork2 is found from the E, -1 linear equations transient performance.
k2gi=0, i=l , . . . , L- 1 (12)
4 . Conclusions
Once k2 is determined, the vectorsandp,q r are The design of discrete PID controllers to
found to place 3m additional poles AE,,. at .,x,,e-Iby achieve pole placement in discrete-time dti-
solving the31linear equations variable systemswas discussed in this paper.
The controllers are simple and practical
H2(hi)+k2G2(Xi)~+ xi k G ( x i ) q in that they act directly on the available system
,k 1 k2C2(hi) r=O,i=il ,..., 3 d k - 1 outputs and do not require the complications of
state reconstruction and implementation of state
+- feedback. Furthemre, PLD controllers lead to
extremely simpleand efficient algorithm which
Finally, the PID control law for the original can be implementedon microccmputers for digital
-e&) + &(k)-Rv(k) where control applications.
system is given by u(k)= Finally, it is important to note that c m - the
p=Pk2 is the unity-rank proportional wtrix gain and putational times involved in the design methods de-
@tqlkl+Sk2 and R=ki-rk2 are the full-rank integral scribed in this paper are very short and thus the
and derivative gain matrices respectively. The state methods form powerful tools forCAD studies. Using
the CAD facility, the designer can iterate
.mdel of the final (n+2E.)th order closed-loop system pole locatians and other design parameters while
on the
is given by

(:.(
k+1@
X ++U
VW1)
(-C(A-BPC)
C(A-I-BPC) CBQ -CBR
(:E;)
A-BPC CiF) I-%
rapidly displaying the resulting responses until
the desired performance is obtained. It is be-
lieved that this combining of the qualitative feel
of pole positions together awith rapid displayof
accurate quantitative response information leads
to quitea powerful and general design technique
for discrete-time multivariable systems.
5.Reference
1. Seraji, H.:"Design of digital two and
three-term controllers for discrete-time
multivariable systems", Int,J. Control,
1983, 3 8 ( 4 ) , pp. 843-865.

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