Auto-tuning method of expanded PID control for MIMO systems

Kenichi Tamura, Hiromitsu Ohmori

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)


This paper is concerned with auto-tuning of the expanded PID control for general MIMO linear system (r-input, m-output, nth-order). The purpose is to give an adaptive law of time-varying PID parameter matrices so as to asymptotically stabilize the closed-loop system using expanded PID control for the regulation problem. The proposed method is derived from satisfying the Lyapunov's stability theorem. For its execution it is necessary for a certain hypothetical system to satisfy almost strictly positive real (ASPR) property. So we also propose the method letting its hypothetical system be ASPR. In our method, since it is not necessary for the controlled MIMO system to be stable and/or minimum phase, it is useful for large class systems. The effectiveness of the proposed method is confirmed with unstable MIMO system by a numerical simulations.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Number of pages6
Publication statusPublished - 2006 Dec 1
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: 2006 Oct 182006 Oct 21

Publication series

Name2006 SICE-ICASE International Joint Conference


Other2006 SICE-ICASE International Joint Conference
Country/TerritoryKorea, Republic of


  • Almost strictly positive real (ASPR)
  • Auto-tuning
  • MIMO linear system
  • PID control

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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