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IMC – PID Design: Analytical Optimization for Performance/Robustness Tradeoff Tuning for Servo/Regulation Mode
Author(s) -
Jin Qibing,
Liu Qie,
Wang Qi,
Li Sinian,
Wang Zhu
Publication year - 2014
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.783
Subject(s) - pid controller , control theory (sociology) , robustness (evolution) , internal model , servo , servomechanism , control engineering , dead time , engineering , computer science , mathematics , temperature control , control (management) , mechanical engineering , biochemistry , chemistry , statistics , artificial intelligence , gene
This paper addresses the analytical design of a one‐degree‐of‐freedom (1‐ DoF ) robust proportional–integral–derivative ( PID ) controller for the servo/regulation mode in line with the enhanced internal model control ( IMC ) principle based on a first order plus dead time ( FOPDT ) model. The proposed enhanced IMC – PID can provide acceptable performance both for set‐point tracking and for load disturbance rejection. The design procedure is formulated as a constrained optimization problem, in which the robustness of the system is adequately considered. Therefore, the resulting PID controller gives optimal performance with an exact selected robustness degree. Illustrative examples are given to show the effectiveness and merits of the analytical tuning rules for a wide range of plants.