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1、PIDCONTROLDesignofPIDcontrollersbasedonconstrainedoptimisationH.Panagopoulos,K.J.AstromandT.HagglundAbstract:AnewdesignmethodforPIDcontrollersispresented,basedonoptimisationofloaddisturbancerejectionwithconstraintsonrobustnesstomodeluncertainties.Thedesignalsodeliversparameterstodealwithmeasurementn
2、oiseandsetpointresponse.Thus,theformulationofthedesignproblemcapturesfouressentialaspectsofindustrialcontrolproblems,leadingtoaconstrainedoptimisationproblemwhichcanbesolvediteratively.1Introduction2ProblemformulationThePIDcontrolleristoday’smostcommonlyusedcontrolThedesignproblemisillustratedinFig.
3、1.Aprocesswithalgorithm[l].Atthemoment,thereexistmanydiffer-transferfunctionG(s)iscontrolledwithaPIDcontrollerentmethodstofindsuitablecontrollerparameters.Thewithtwodegreesoffreedom.ThetransferfunctionG,(s)methodsdifferincomplexity,flexibility,andintheamountdescribesthefeedbackfromprocessoutputytoco
4、ntrolofprocessknowledgeused.Dependingontheapplication,signalu,andGflf(s)describesthefeedforwardfromsetthereisaneedtohaveseveraltypesoftuningmethod.pointysptou.ThreeexternalsignalsactonthecontrolTherearesimple,easytousemethodswhichrequirelittleloop,namelysetpointy,,loaddisturbance1andmeasure-informat
5、ion,e.g.themethoddescribedin[2],aswellasmentnoisen.moresophisticatedmethodswhichrequiremoreinforma-Thedesignobjectiveistodeterminethecontrollertionandmorecomputations.parametersinG,(s)andGf&)sothatthesystembehavesThereareseveralreasonstolookforbettermethodstowellwithrespecttochangesinthethreesignals
6、ysp,1anddesignPIDcontrollers.Oneisthesignificantimpactitmayn,aswellasintheprocessmodelG(s).Hence,thehavebecauseofthewidespreaduseofthecontrollers.specificationwillexpressrequirementsonAnotheristhebenefitemergingauto-tunersandtuning0loaddisturbanceresponsedevicescanderivefromimproveddesignmethods.0ro
7、bustnesswithrespecttomodeluncertaintiesThispaperdescribesanewdesignmethodforPID0measurementnoiseresponsecontrollers,wheretheprimarydesigngoalistoobtain0setpointresponsegoodloaddisturbanceresponses.Thi
