Auto tuning on robust parameters of a PID controller for a 2nd-order adjusted system with one changeable parameter

摘要

The present paper introduces optimal and robust auto tuning on parameters of a PID controller with 2nd-order internal system adjusted by the partial model matching method for 1st- and 2nd-order original controlled objects. The proposed tuning has a wide servo band range in the frequency domain. The Hurwitz stability criterion was used to obtain the simple robust stability conditions (SRS) for given parameters and one changeable parameter. In addition, a sequential ISE search method for grid points was used for the auto tuner. Moreover, two versions of a new interpolation method from a 3驴3 small grid to a 5驴5 grid are proposed.