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.
- Model reference control
- Performance/robustness trade-off
- PI controllers
- Two-degree-of-freedom controllers
Alfaro, V. M., & Vilanova, R. (2012). Performance/Robustness trade-off design framework for 2DoF PI controllers. Studies in Informatics and Control, 21(1), 75-84. https://doi.org/10.24846/v21i1y201209