Optimized tuning rules for proportional‐integral controllers with selected robustness

Abstract

AbstractIn this paper, we present tuning rules for PI controllers that represent an effective alternative to the well‐known lambda‐tuning for the load disturbance rejection task. In particular, the integrated absolute error is minimized subject to a constraint on the maximum sensitivity selected. Suitable formulas are given to relate the proposed tuning with the lambda‐tuning, and the improvement obtained is quantified for different process dynamics. Both self‐regulating and non self‐regulating processes are considered. Simulation results are given to illustrate the methodology.