The design of the closed-loop control system must take
into account
the system performance to load-disturbance and set-point changes and
its robustness to variation of the controlled process characteristics,
preserving the well-known tradeoff among all these variables. This
paper addresses the combined servo/regulation performance and robustness
problem. The proposed method is formulated as an optimization problem
for combined performance (not for independent operation modes), including
also the robustness property as a constraint. The accomplishment of
the claimed robustness is checked and then, the proportional–integral–derivative
(PID) controller gives a good performance with also a precise and
specific robustness degree. The proposed robust-based PID control
design is tested against other tuning methods.
A tuning method for two-degree-of-freedom (2-DoF) proportional-integral (PI) controllers for first-orderplus-dead-time (FOPDT) models is presented. It allows the designer to deal with the closed-loop control system performance-robustness trade-off specifying the lowest robustness level allowed by selecting a maximum sensitivity in the 1.4-2.0 range. In addition, a smooth performance is obtained by forcing the regulatory and servo-control closed-loop transfer functions to perform as close as possible to a target nonoscillatory dynamics. Controller tuning rules are provided for FOPDT models with normalized deadtimes from 0.1 to 2.0. Comparative examples show the effectiveness of the proposed tuning method.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.