Robust multivariable PID control for linear parameter varying systems (Q5949064)

The paper investigates the synthesis of multivariable PI and PID controllers for (respectively) proper and strictly proper uncertain linear systems. To obtain uniform exponential stability, specified convergence and an \(H_\infty\) norm bound for a general problem requires the solution of a bilinear matrix inequality. In special cases such as full state measurement, the problem can be converted into a more tractable, linear matrix inequality problem.