摘要：AbstractIn this paper, a multi-input multi-output proportional integral derivative controller tuning technique using frequency-domain data is proposed. The problem is formulated using loop shaping performance specifications and the bounds on the control signal magnitude as constraints. The result is a convex-concave optimization problem. This is convexified by linearization of the concave part. The problem is solved using some LMI solver. Simulation results show the effectiveness of the proposed technique.
