Design of multivariable PID controllers for pole placement

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Abstract
The paper puts forward a simple method for the design of PID controllers for pole placement in linear multivariable systems, where the controllers act directly on the available system outputs. For an m-input loutput system of order n, the controller can place 3m + l− 1 poles of the (n + l)th order closed-loop system arbitrarily. The PID controller ensures that in the steady-state the outputs track step commands and reject unmeasurable arbitrary disturbances with constant final values. The design method is illustrated by a numerical example.