Optimal tuning of PID controllers for MIMO bilinear plants

An optimal method is proposed for tuning PID controllers for bilinear MIMO plants in the state-space description when the input signals are piece-wise functions of time. The design method for the parameters of the controller is based on optimizing the proximity of the transient responses in the open-loop system and its implicit reference model. The parameters of the bilinear MIMO plant are estimated via parametric identification algorithms and then used in the tuning algorithms. Optimal tuning algorithms are designed for continuous-time PID controllers for bilinear systems. A numerical example of tuning the parameters of a two-channel controller for a bilinear plant is presented. The synthesized controller is shown to demonstrate good performance over a wide range of coordinate-parametric inputs.