PID Tuning by Frequency Domain Model Matching

Abstract

This paper proposes a PID tuning method based on model matching in the frequency domain. Using the proposed method, PID tuning can be performed considering the trade-off between control bandwidth and stability margin, even if the plant model is unknown, as long as the frequency characteristics of the plant are known. The effectiveness of the proposed method is shown through a numerical experiment where the plant model is given and an experiment of a position control of an actual mass-spring system whose transfer function model is unknown.