Abstract
We present a new robust minimax design method of the I-PD controller based on the generalized ISE criterion with a penalty of the derivative of the manipulated variable. It is shown that the generalized ISE is a weighted sum of the two ISE's for the I-PD and PID controllers. A genetic algorithm based method is developed for solving the minimax problem. For the first and second order systems with a time-delay, we show that the robustness of the closed-loop responses to parameter variations is greatly improved over the earlier designs based on the ISE criterion.
