PID Controller Synthesis with Specifed Stability Requirement for Some Classes of MIMO Systems

For certain classes of linear, timeinvariant, multi-input multi-output plants, a systematic synthesis method is developed for stabilization using Proportional+Integral+Derivative (PID) controllers, where the closed-loop poles can be assigned to the left of an axis shifted to the left of the origin. For some of these plant classes, the real-parts of the closed-loop poles can be smaller than any arbitrary pre-chosen negative value. Stable and some unstable multi-input multi-input plants with transmissionzeros in the left-half complex-plane are included in these classes that admit PID-controllers with this property of small negative real-part assignability of closed-loop poles.