Simple robust autotuning rules for 2-DoF PI controllers

R. Vilanova, V. M. Alfaro, O. Arrieta

Research output: Contribution to journalArticleResearchpeer-review

27 Citations (Scopus)


This paper addresses the problem of providing simple tuning rules for a Two-Degree-of-Freedom (2-DoF) PI controller (PI2) with robustness considerations. The introduction of robustness as a matter of primary concern is by now well established among the control community. Among the different ways of introducing a robustness constraint into the design stage, the purpose of this paper is to use the maximum sensitivity value as the design parameter. In order to deal with the well known performance/robustness tradeoff, an analysis is conducted first that allows the determination of the lowest closed-loop time constant that guarantees a desired robustness. From that point, an analytical design is conducted for the assignment of the load-disturbance dynamics followed by the tuning of the set-point weight factor in order to match, as much as possible, the set-point-to-output dynamics according to a first-order-plus-dead- time dynamics. Simple tuning rules are generated by considering specific values for the maximum sensitivity value. These tuning rules, provide all the controller parameters parameterized in terms of the open-loop normalized dead-time allowing the user to select a high/medium/low robust closed-loop control system. The proposed autotuning expressions are therefore compared with other well known tuning rules also conceived by using the same robustness measure, showing that the proposed approach is able to guarantee the same robustness level and improve the system time performance. Copyright © 2011 Published by Elsevier Ltd on behalf of ISA. All rights reserved.
Original languageEnglish
Pages (from-to)30-41
JournalISA Transactions
Publication statusPublished - 1 Jan 2012


  • PI control
  • Robust control
  • Two-degrees-of-freedom


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