Abstract
Tuning method “K/s” of parameters for PID controller is proposed. The proposed method approximates the relationship between the manipulating variable and the controlled variable with a model by combining the time-delay and the first-order lead-lag based on the observed data under the closed-loop system. Then, the integral time and the derivative time are determined so that the open-loop transfer function comes closer to K/s by using various constants of that model; and the remaining proportional gain is determined so as to allow securing the given gain margin. In this paper, the identification method and the tuning method are described, then its effectiveness is confirmed by simulation.
