擬似極配置法によるPIDコントローラ調整法

抄録

In this paper, a new tuning method for PID control is proposed. We set the controlled system to be a controllable and observable SISO system. In the first half, we consider optimal servo problems by 2 methods. For each method, the optimal state feedback rule is obtained by the theory of optimal regulator, and the optimal poles of this closed-loop system are calculated. In the second half, we consider the problem that the poles of closed-loop system by PID control are approximated to the optimal poles as much as possible. This technique is called quasi pole placement. The problem becomes a nonlinear planning problem with some equality constraints, and solved by exterior penalty function method. Finally, the simulation results for the 5 order system are reported, and the effectiveness of this technique is demonstrated.