Maximum sensitivity based robust tuning for two-degree-of-freedom proportional-integral controllers

V. M. Alfaro, R. Vilanova, O. Arrieta

Research output: Contribution to journalArticleResearchpeer-review

20 Citations (Scopus)


A tuning method for two-degree-of-freedom (2-DoF) proportional-integral (PI) controllers for first-order-plus-dead-time (FOPDT) models is presented. It allows the designer to deal with the closed-loop control system performance-robustness trade-off specifying the lowest robustness level allowed by selecting a maximum sensitivity in the 1.4-2.0 range. In addition, a smooth performance is obtained by forcing the regulatory and servo-control closed-loop transfer functions to perform as close as possible to a target nonoscillatory dynamics. Controller tuning rules are provided for FOPDT models with normalized dead-times from 0.1 to 2.0. Comparative examples show the effectiveness of the proposed tuning method. © 2010 American Chemical Society.
Original languageEnglish
Pages (from-to)5415-5423
JournalIndustrial & Engineering Chemistry Research
Issue number11
Publication statusPublished - 2 Jun 2010


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