INVERTED DECOUPLING PID CONTROLLER DESIGN FOR A MIMO SYSTEM
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Abstract
Eliminating loop interaction is a critical issue in the control of Multi Input Multi Output (MIMO) systems. In this study, an experimental setup, Festo Didactic MPS-PA, is used as MIMO system. Inverted decoupling PID method is applied to the system to eliminate the loop interactions of MIMO system. For this purpose, firstly, the system is modelled. Then, decoupler blocks are designed to eliminate the loop interactions. Finally, the modelled system is simulated, and experiments are performed on the real system. The effect of inverted decoupling PID control on the system performance and the effect of classical PID control on the system performance are compared.