Parametric Synthesis of PID Controllers for Systems in Case of Low-Frequency Disturbances

摘要

This paper considers the problem of parametric synthesis of PID controllers providing a specific maximum value of the sensitivity function (Ms) and the complementary sensitivity functions (Mp). The equation is obtained for the dependences between the gain of the differential part and two other controller coefficients from the condition of suppression of low-frequency disturbances. As a result of this, the optimization problem is reduced to determine two tuning parameters. The use of the symbolic and numeric computing environment Maple 14 and elimination theory allowed obtaining an effective algorithm to construct a specified stability margin in the plane of the tuning parameters of PID controllers.