Vinsamlegast notið þetta auðkenni þegar þið vitnið til verksins eða tengið í það: http://hdl.handle.net/1946/5407
A method to optimize the zero locations for a PID controller for SISO systems to achive optimized tracking of a reference system has already been derived. In this thesis this method is expanded to work for MIMO systems. This is done by minimizing the difference between the impulse or the step response of the controlled system and the chosen reference system. The optimized zero locations can be found for the controller and the best tracking possible is a achived.