Abstract
In previous papers by the use of the architecture generating property of the optimal linear quadratic tracking theory those problems that give the PI, PD and PID controllers had been presented, thus avoiding heuristics and giving a systematic approach to explanation for their excellent performance. This approach has been used also in derivation of the family of generalized PImDn-1controllers. In this paper by the combined use of the optimal linear quadratic tracking and system sensitivity theories a problem is formulated and solutions are shown that give a family of robust PID controllers. Examples of the control architectures and structures for first and second order systems are presented.
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