Performance/Robustness trade-off design framework for 2DoF PI controllers

Víctor M. Alfaro, Ramon Vilanova

Research output: Contribution to journalArticleResearchpeer-review

12 Citations (Scopus)


The aim of the paper is to present a design framework for two-degree-of-freedom (2DoF) proportional integral (PI) controllers that allows to deal with the control system performance/robustness trade-off. It is based on the use of a model reference optimization procedure with target servo-control and regulatory control closed-loop transfer functions for first-and second-order-plus-dead-time (FOPDT, SOPDT) models. A smooth servo/regulatory combined performance is obtained by forcing both closed-loop transfer functions to perform as close as possible to target non-oscillatory dynamics. A comparison with other methods shows the effectiveness of the proposed design methodology.
Original languageEnglish
Pages (from-to)75-84
JournalStudies in Informatics and Control
Issue number1
Publication statusPublished - 1 Jan 2012


  • Model reference control
  • Performance/robustness trade-off
  • PI controllers
  • Two-degree-of-freedom controllers

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