Step Response of a specific MIMO system

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Armin Mashhadi 2020-4-28

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评论： YLieven 2020-11-29

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Hi,

I'm working on MIMO (2 input, 2 output) systems with PID controllers.

Recently i'm trying to regenerate results of a paper. This is the system:

and here is responding Controller's Parameters (given by the paper):

-2.0966 , -0.85319 -0.6741 3.3801 0.48281 0.87473

I used this code (Which works perfectly on another system), Apparently i have some issue with Delays. But i don't know how to fix this.

x = [-2.0966 , -0.85319 , -0.6741,...
      3.3801 ,  0.48281 , 0.87473];
  
s = tf ('s');
K1 = pid( x(1) ,  x(2) , x(3) );
K2 = pid( x(4) ,  x(5) , x(6) );
K  = [K1 , 0 ; 0 , K2];         
 G  = [ -2.2 * exp( - 1 *s) /(  7*s+1) ,...
         1.3 * exp( -0.3*s) /(  7*s+1) ;...
        -2.8 * exp( -1.8*s) /(9.5*s+1) , ...
         4.3 * exp(-0.35*s) /(9.2*s+1)];   
CL = feedback(G*K  , eye(2));
step(CL);