Bp 374 en
Decentralized PID controller design for quadruple tank model
Author: Tomáš Bäumelt
Bachelor thesis deals with design of decentralized PID controller for systems with multiple inputs and multiple outputs. The focus of this work is a frequency design method based on Nyquist stability analysis and maximum of sensibility function. The advantage of this design method is that it guarantees the stability of the overall closed-loop system and provides an option to tune and find an optimal controller. Next this design method is tested on two different configurations of quadruple tank model with dead-times. At the end the results are compared with a common used design method based on Relative Gain Array.