MIMO controller synthesis with integral-action integrity

@article{Gndes2008MIMOCS,
  title={MIMO controller synthesis with integral-action integrity},
  author={A. Nazli G{\"u}ndes and A. N. Mete},
  journal={Automatica},
  year={2008},
  volume={44},
  pages={128-134}
}
A controller synthesis method is presented for closed-loop stability and asymptotic tracking of step input references with zero steady-state error. Integral-action is achieved in two design steps starting with any stabilizing controller and adding a PID-controller in a configuration that guarantees robust stability and tracking. The proposed design has integral-action integrity, where closed-loop stability is maintained even when any of the proportional, integral, or derivative terms are… CONTINUE READING