Modified PID controller based on H_∞ theory

摘要

A simple design procedure for the auto-tuning of PID controllersis developed in this paper based on the modern H_∞control theory. Straightforward analytical formulas are given for thePID controller parameters. They have the advantage to take into accountboth robustness aspects and desired closed loop characteristics. Thedesign method can be easily combined with existing processidentification techniques to implement an auto-tuning PID controller.Simulation studies are given to compare this design method to theZiegler-Nichols method. The results show that the new method providesmuch faster and smoother responses, which generally are more desirablein the process control setting