Mathematical Problems in Engineering
Volume 2012 (2012), Article ID 570498, 13 pages
Research Article

A Quasi-ARX Model for Multivariable Decoupling Control of Nonlinear MIMO System

Graduate School of Information, Production and Systems, Waseda University, Hibikino 2-7, Wakamatsu-ku, Kitakyushu-shi, Fukuoka 808-0135, Japan

Received 27 June 2011; Accepted 17 August 2011

Academic Editor: Jinling Liang

Copyright © 2012 Lan Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper proposes a multiinput and multioutput (MIMO) quasi-autoregressive eXogenous (ARX) model and a multivariable-decoupling proportional integral differential (PID) controller for MIMO nonlinear systems based on the proposed model. The proposed MIMO quasi-ARX model improves the performance of ordinary quasi-ARX model. The proposed controller consists of a traditional PID controller with a decoupling compensator and a feed-forward compensator for the nonlinear dynamics based on the MIMO quasi-ARX model. Then an adaptive control algorithm is presented using the MIMO quasi-ARX radial basis function network (RBFN) prediction model and some stability analysis of control system is shown. Simulation results show the effectiveness of the proposed control method.