Optimal Robust PID control for first- and second-order plus dead-time processes

Takao Sato, Itaru Hayashi, Yohei Horibe, Ramon Vilanova, Yasuo Konishi

Research output: Contribution to journalArticleResearch

14 Citations (Scopus)


© 2019 by the authors. The present study proposes a new design method for a proportional-integral-derivative (PID) control system for first-order plus dead-time (FOPDT) and over-damped second-order plus dead-time (SOPDT) systems. What is presented is an optimal PID tuning constrained to robust stability. The optimal tuning is defined for each one of the two operation modes the control system may operate in: servo (reference tracking) and regulation (disturbance rejection). The optimization problem is stated for a normalized second-order plant that unifies FOPDT and SOPDT process models. Different robustness levels are considered and for each one of them, the set of optimal controller parameters is obtained. In a second step, suitable formulas are found that provide continuous values for the controller parameters. Finally, the effectiveness of the proposed method is confirmed through numerical examples.
Original languageEnglish
Article number1934
JournalApplied Sciences (Switzerland)
Publication statusPublished - 1 May 2019


  • FOPDT system
  • Over-damping
  • PID control
  • Robust stability
  • SOPDT system
  • Sensitivity function


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