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<p>In this paper, an optimal controller design method is proposed to control MIMO plants. Initially, a PID controller is designed using the Whale Optimization Algorithm, followed by the implementation of a fractional order PID (FOPID) controller. The four-tank MIMO system and the twin-rotor MIMO system are used as benchmark examples to demonstrate the effectiveness of the proposed approach. The output responses of both systems are compared with those obtained using previously established methods. Furthermore, robustness analysis, including multi-channel output gain margin, multi-channel output delay margin, noise immunity, and output disturbance rejection, is performed for both MIMO systems in presence of the designed controller. It is seen that the designed controller based on FOPID is showing the best performance as compared to the other methods.</p>

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Optimal robust controller design for MIMO system

  • 期刊论文

  • 发表日期：

    2025年8月8日

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  • Sumit Kumar Pandey,
  • Anindita Ganguly

摘要

In this paper, an optimal controller design method is proposed to control MIMO plants. Initially, a PID controller is designed using the Whale Optimization Algorithm, followed by the implementation of a fractional order PID (FOPID) controller. The four-tank MIMO system and the twin-rotor MIMO system are used as benchmark examples to demonstrate the effectiveness of the proposed approach. The output responses of both systems are compared with those obtained using previously established methods. Furthermore, robustness analysis, including multi-channel output gain margin, multi-channel output delay margin, noise immunity, and output disturbance rejection, is performed for both MIMO systems in presence of the designed controller. It is seen that the designed controller based on FOPID is showing the best performance as compared to the other methods.