PID Controller Design for Complex Systems

Abstract

The proportional integral derivative (PID) controller design methods are either model based approaches or rule based approaches. It is clear that when using a model based approach, a first order model yields a PI controller and a second order model yields a PID controller. In some applications, the first order and second order models are basically an approximation to the actual physical systems. This chapter explains how to design PID controllers for higher order systems directly using frequency response data. It presents PID controller design via specification of gain margin and phase margin. The chapter then discusses an intuitive and simple approach to PID controller design from the perspective of curve fitting of the frequency response of the loop transfer function. It presents tutorials to produce a MATLAB program for PID controller design using two frequency response points and to test this program using a simulation example.