Procedure for cascade control systems design: Choice of suitable PID tunings

Orlando Arrieta, Ramon Vilanova, Pedro Balaguer

Research output: Contribution to journalArticleResearchpeer-review

16 Citations (Scopus)


This paper provides an approach for the application of PID controllers within a cascade control system configuration. Based on considerations about the expected operating modes of both controllers, the tuning of both inner and outer loop controllers are selected accordingly. This fact motivates the use of a tuning that, for the secondary controller, provides a balanced set-point/load-disturbance performance. A new approach is also provided for the assimilation of the inner closed-loop transfer function to a suitable form for tuning of the outer controller. Due to the fact that this inevitably introduces unmodelled dynamics into the design of the primary controller, a robust tuning is needed. Copyright © 2006-2008 by CCC Publications.
Original languageEnglish
Pages (from-to)235-248
JournalInternational Journal of Computers, Communications and Control
Issue number3
Publication statusPublished - 1 Jan 2008


  • Cascade control systems
  • Performance degradation
  • PID control


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