Optimal Robust PID Control for First- and Second-Order Plus Dead-Time Processes

Applied Sciences

Yasuo Konishi¹  Takao Sato¹  Yohei Horibe¹  Itaru Hayashi¹  Ramon Vilanova² 

[1] Department of Mechanical Engineering, University of Hyogo, Hyogo 651-2103, Japan;Department of Telecommunications and Systems Engineering, Universitat Autònoma de Barcelona, 08193 Barcelona, Spain;

关键词: PID control;    FOPDT system;    SOPDT system;    over-damping;    sensitivity function;    robust stability;   

DOI  :  10.3390/app9091934

来源: DOAJ

【 摘 要 】

The present study proposes a new design method for a proportional-integral-derivative (PID) control system for first-order plus dead-time (FOPDT) and over-damped second-order plus dead-time (SOPDT) systems. What is presented is an optimal PID tuning constrained to robust stability. The optimal tuning is defined for each one of the two operation modes the control system may operate in: servo (reference tracking) and regulation (disturbance rejection). The optimization problem is stated for a normalized second-order plant that unifies FOPDT and SOPDT process models. Different robustness levels are considered and for each one of them, the set of optimal controller parameters is obtained. In a second step, suitable formulas are found that provide continuous values for the controller parameters. Finally, the effectiveness of the proposed method is confirmed through numerical examples.

【 授权许可】

Unknown