Open AccessThe Sine Wave Tuning method: Robust PID controller design in the frequency domain
Author(s) -
Štefan Bucz,
Alena Kozáková
Publication year - 2015
Publication title -
journal of electrical systems and information technology
Language(s) - English
Resource type - Journals
ISSN - 2314-7172
DOI - 10.1016/j.jesit.2015.11.001
Subject(s) - phase margin , control theory (sociology) , pid controller , overshoot (microwave communication) , settling time , frequency domain , controller (irrigation) , sine wave , crossover , benchmark (surveying) , step response , frequency response , mathematics , computer science , engineering , control engineering , bandwidth (computing) , temperature control , control (management) , telecommunications , voltage , artificial intelligence , amplifier , mathematical analysis , operational amplifier , biology , geodesy , agronomy , electrical engineering , geography
The paper presents a novel robust PID controller design method for nominal performance specified in terms of maximum overshoot and settling time. The PID controller design provides guaranteed gain margin GM. The parameter of the tuning rules is a suitably chosen point of the plant frequency response obtained by a sine-wave signal with excitation frequency ωn. Then, the designed controller moves this point into the phase crossover with the required gain margin GM. The couple (ωn;GM) is specified with respect to closed-loop performance requirements in terms of ηmax (maximum overshoot) and ts (settling time) according to developed parabolic dependences. The new approach has been verified on a vast batch of benchmark examples; subsequently, the developed algorithm has been extended to robust PID controller design for plants with unstable zero and unstructured uncertainties