SELF-TUNING PID CONTROL - A MULTIVARIABLE DERIVATION AND APPLICATION

In this paper, a multivariable self-tuning controller with a proportio nal plus integral plus derivative (PID) structure is derived. The algo rithm features a combination of the self-tuning property, in which the controller parameters are tuned automatically on-line, and also the s tructure of a multivariable PID controller, making it more favourable for use in industry. The algorithm is applied to a microcomputer based multi-input multi-output (MIMO) furnace. Some experiments are conduct ed to observe the ability of the controller in the temperature control of MIMO furnace under set-point changes and its relative robustness a s compared with a fixed-tuned multivariable PID (FTMPID) controller. T he experimental results prove that the controller is capable of giving a good control result for the process.