摘要：AbstractNonminimum phase systems are presented in many industrial processes bringing some difficulties in their control scheme. In this paper we propose a methodology to tune multi-input-multi-output proportional-integral-derivative controllers that deals this particularity. The controller design employed here is based in an attainable trajectory determination, for the nonminimum phase system, that considers performance and robustness metrics. Based on that, two different tuning procedures are proposed: an optimization problem, in the frequency domain, that involves nonconvex quadratic matrix inequalities with a linear matrix inequality restriction and a time domain optimization of the simulated system. The methods are an alternative for tuning this kind of system leading the process to the best operational scenario presenting stability, robustness and limited control actions.
