The paper introduces computable indicators R_K and I_K that measure exponential convergence rate and ultimate error ball for MIMO-PI controllers, and uses them to optimize controller gains.
Controller synthesis free of analytical models: Three term controllers.IEEE Transactions on Automatic Control, 53(6):1353–1369, 2008
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Robust Convergency Indicator using MIMO-PI Controller in the presence of disturbances
The paper introduces computable indicators R_K and I_K that measure exponential convergence rate and ultimate error ball for MIMO-PI controllers, and uses them to optimize controller gains.