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PI loop design for 2nd order system

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ashugtiwari

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Hello All,
I have a plant system which is 2-pole and 0-zeroes for which i want to control two different parameters. So, I'm trying to design two PI loops in feedback one for each parameter which will make overall system 4-pole, 2-zeroes system.
But, I don't know how to design two different PI loops from single two pole transfer function. I tried to search any article on this but no luck. Please let me know if anyone have any solution?
The plant system with 2-pole and 0-zeroes is a BLDC motor and the 2 parameters to be controlled using two separate PI loops are speed and torque.

Thanks for answers

Ashutosh
 

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