Robust Integral Backstepping PID using LMI

Abstract

This paper proposes a technique to find parameters of the PID controller using robust integral backstepping method. The PID controller is basically an output feedback controller for single input single output plant. To design using robust integral backstepping method, the plant and the PID controller are represented as a full state feedback control system in state space representation. In this representation, the PID controller has the same structure to a state feedback law for a plant with an integral at its input. The PID controller then follows the standard procedure in robust control synthesis and the parameters are computed using the LMI method.