**7. Conclusion**

Thus in this chapter, it was found that least square and subspace methods have been used to identify process in open loop and sequential identification technique is used to estimate the process in closed loop. And the decentralized controllers are tuned using BLT method results in a stable controller. Finally, all the interaction tools are discussed as well the stability of the MIMO processes. The IMC-PID tuning rule suggested in this article yields fast and robust responses.

The following step-by-step procedure may be employed to solve a multi-variable control problem:


Based on the concept of sequential identification-design, an approach for the automatic tuning of multivariable systems is discussed. Several system identification methods like subspace identification, least squares, relay feedback methods are used to determine dynamic parameters of a specific model structure from plant data (real time).

## **8. Acknowledgement**

Authors wish to acknowledge the financial support of DST / SR-S3-CE-90-2009 in carrying out this research work

**6** 

**Robust Decentralized PID Controller Design** 

Robust stability of uncertain dynamic systems has major importance when real world system models are considered. A realistic approach has to consider uncertainties of various kinds in the system model. Uncertainties due to inherent modelling/identification inaccuracies in any physical plant model specify a certain uncertainty domain, e.g. as a set of linearized models obtained in different working points of the plant considered. Thus, a basic required property of the system is its stability within the whole uncertainty domain denoted as robust stability. Robust control theory provides analysis and synthesis approaches and tools applicable for various kinds of processes, including multi input – multi output (MIMO) dynamic systems. To reduce multivariable control problem complexity, MIMO systems are often considered as interconnection of a finite number of subsystems. This approach enables to employ decentralized control structure with subsystems having their local control loops. Compared with centralized MIMO controller systems, decentralized control structure brings about certain performance deterioration, however weighted against by important benefits, such as design simplicity, hardware, operation and reliability improvement. Robustness is one of attractive qualities of a decentralized control scheme, since such control structure can be inherently resistant to a wide range of uncertainties both in subsystems and interconnections. Considerable effort has been made to enhance robustness in decentralized control structure and decentralized control design schemes and various approaches have been developed in this field both in time and frequency domains

(Gyurkovics & Takacs, 2000; Zečevič & Šiljak, 2004; Stankovič et al., 2007).

Recently, the algebraic approach has gained considerable interest in robust control, (Boyd et al., 1994; Crusius & Trofino, 1999; de Oliveira et al., 1999; Ming Ge et al., 2002; Grman et al., 2005; Henrion et al., 2002). Algebraic approach is based on the fact that many different problems in control reduce to an equivalent linear algebra problem (Skelton et al., 1998). By algebraic approach, robust control problem is formulated in algebraic framework and solved as an optimization problem, preferably in the form of Linear Matrix Inequalities (LMI). LMI techniques enable to solve a large set of convex problems in polynomial time (see Boyd et al., 1994). This approach is directly applicable when control problems for linear uncertain systems with a convex uncertainty domain are solved. Still, many important control problems even for linear systems have been proven as NP hard, including structured linear control problems such as decentralized control and simultaneous static output feedback (SOF) designs. In these cases the prescribed structure of control feedback matrix (block diagonal for decentralized control) results in nonconvex problem formulation. There

**1. Introduction** 

Danica Rosinová and Alena Kozáková

*Slovak University of Technology* 

*Slovak Republic* 
