Design of a MIMO PID robust controller using moments based approach

In this paper we present a new technique for robust MIMO controllers synthesis and reduction based on a reference model and moments approach intended to control a MIMO thermal system. The reference model allows to specify the performances requirements for the closed loop and improve the controller robustness while the moments tool (frequency and time ones) is used to reduce the controller structure using a Non Linear Optimization. The implementation on the real system associates this methodology of MIMO PID controllers synthesis with Broida's identification technique in order to carry out a auto-tuning procedure [2] [11].