CONVENIENT ALMOST OPTIMAL AND ROBUST TUNING OF PI AND PID CONTROLLERS

Abstract

Tuning rules for PI and PID controllers for stable non oscillating plants are presented. These rules are based on an optimization procedure, where both low frequency performance, mid frequency stability margins and high frequency control activity are taken into account. The required plant knowledge is either a specific frequency point, like in Ziegler-Nichols frequency design method, or a step response for a first order plant with time delay Almost optimal tuning rules are presented based on this knowledge, both for PI and PID controllers.