How can I use two PID controllers in Simulink?

I have designed a PID controller to track the first state plus some random noise, but I have also to design the same system with two PIDs, with the second state to be tracked. Here is a picture showing what I have done. Can you help me? Thank you in advance.

This is how I've done it with one PID.

Answer 1

[Fangjun Jiang]

Your output y seems to be 2x1, but if your current model runs, then your control variable u is 1x1. You can't have two PID controllers if you have only one contro variable.

If your control variable is indeed 2x1, then have another desired output, another negative feedback, another PID controller, and then Mux the ouputs of the two PID controller and feed to the State Space block.

[Luca Repetto]

Thank you for your answer, yes my model runs and the control variable is 1x1.

What do you think that I have to do? Can you show me the design in the case of a control variable that is 2x1 please? Thank you in advance.

Below there is the image of my system.

[Fangjun Jiang]

When you have only one control variable, you can't have two PID controllers. Period.

When your Bc and D are 2x2 matrix, then you will natually have two control variables and you can have one PID controller for each.

[Luca Repetto]

Ok I think that I have misunderstood the text of my problem and the two PIDs are in parallel to track the state1.

What do you think that I have to do?

Thank you