PID control in terms of robustness/performance and servo/regulator trade-offs: A unifying approach to balanced autotuning

S. Alcántara, R. Vilanova, C. Pedret

Research output: Contribution to journalArticleResearchpeer-review

56 Citations (Scopus)

Abstract

In this article, we address the model-based tuning of single-loop PID controllers in terms of the robustness/performance and servo/regulator trade-offs. Although the robustness/performance compromise is commonly considered, it is not so common to also take into account, for example, the conflict between input and output disturbances, referred to here as the servo/regulator trade-off. This is a distinguishing feature of the presented approach, in which the final tuning expressions show how to shift each compromise. Another remarkable feature of the proposed methodology is that stable and unstable plants are dealt with in a unified way. Finally, at the light of the obtained expressions for the controller's parameters, we concentrate on giving tuning guidelines with an emphasis on balanced servo/regulation operation. For that purpose, two different performance indices are investigated.© 2013 Elsevier Ltd. All rights reserved.
Original languageEnglish
Pages (from-to)527-542
JournalJournal of Process Control
Volume23
Issue number4
DOIs
Publication statusPublished - 1 Apr 2013

Keywords

  • H control
  • Performance
  • PID tuning
  • Robustness
  • Servo/regulator trade-off
  • Weighted sensitivity

Fingerprint Dive into the research topics of 'PID control in terms of robustness/performance and servo/regulator trade-offs: A unifying approach to balanced autotuning'. Together they form a unique fingerprint.

Cite this