A Robust Tuning Method for I-PD Controller Incorporating A Constraint on Manipulated Variable

Abstract

A PID setting procedure is presented to provide a critically damped response to a reference change for a first-order lag process with time delay. It is shown that the optimized PID settings based on the ISE (Integral of Squared Error) has a significant disadvantage in that it tends to be more sensitive to modeling errors. To reduce the sensitivity, a method of optimizing the PID setting is developed by incorporating a constraint on the manipulated variable. It is found a remarkable improvement of control performance against modeling errors.