Graphical robust PID tuning for disturbance rejection satisfying multiple objectives

Abstract

In this article, a novel graphical tuning method is proposed to determine all feasible parameters of PID controller satisfying multiple objectives including disturbance rejection for a wide range of processes. The proposed method is based on a graphical method and the obtained parameters can satisfy a given analyzing reference to disturbance ratio (RDR) index, which is used in this paper to evaluate the disturbance rejection performance. In a similar way, all the parameters satisfying transient state specification of set-point tracking response and robustness specification are determined. As a result, the intersection region presents all available parameters that can provide multiple objectives. This paper proposes an alternative way to optimize the PID controller satisfying multiple objectives. Since no optimization algorithm is used, the proposed method is simpler than PID design methods using optimization method. Three examples are given to demonstrate the flexibility and effectiveness of the proposed method.

Keywords:

• Disturbance rejection control
• Multi-objective and multi-constraint indexes
• PID controller tuning
• Reference to disturbance ratio (RDR)

Additional information

Funding

This work is supported by the National Natural Science Foundation of China (61673004), National Natural Science Foundation of China (61273132) and the Fundamental Research Funds for the Central Universities (Grant ZY1619).