Abstract
Optimal tuning of a digital PID (PI) controller is discussed, based on the Integrated Absolute Error (IAE) as a performance index. These optimal tuning values are formulated with process parameters by a non-linear least square method. Once the process is modeled by a 1st-or 2nd-order system with time delay, optimal tuning of digital controller is realized. A controlled system tuned by this method shows rapid settling in response and the amplitude of manipulated variable is rather small. This method is very effective for a control system which has saturation in a manipulated variable.
