Tuning of Proportional-Resonant Controllers Combined with Phase-Lead Compensators Based on the Frequency Response

Abstract

In this research article, the proportional-resonant controllers (PR) are introduced to fulfil the increased demand for controllers aiming at the tracking and/or rejection of periodic signals with superior performance than conventional PID ones. The main characteristic of these controllers is the infinite gain in the frequency of interest, which can lead to stability problems and makes their design and tuning more complex. More precisely, this paper presents a systematic approach for the computation of PR controllers parameters based on a frequency response method, using stability margins and sensitivity functions as indicators of performance and stability for the controlled system. In addition, a combination with a phase-lead compensator is proposed to allow better performance in an augmented bandwidth. Finally, the effectiveness of the proposed method is demonstrated for different classes of processes found in typical control problems.