MIMO Tracking PI/PID Controller Design for Nonlinear Systems based on Singular Perturbation Technique∗

Abstract Problem of the tracking PI/PID multivariable controller design based on time-scale separation technique (singular perturbation technique) for MIMO nonlinear systems is discussed. The presented design methodology guarantees almost perfect rejection of nonlinearities, unknown external disturbances, and interactions between loops due to increase of time-scale separation degree between the fast and slow modes that are artificially forced in the closedloop system. Simulation results for trajectory tracking control of two-link robot manipulator are presented as an example of the proposed design methodology application.