Complex tuning of the PID controller according to integral criteria

Abstract

The article discusses the various variants of separate tuning of the PID (proportional-differential-integral) algorithm for the control channels by disturbance and set point. A variant of the two-degree-of-freedom structure is proposed when the set point has priority. The methods tuning according to the integral criteria are taken as a basis. For control objects with different dynamics is shown that two variants of two-degree-of- freedom structures improve the operation of the PID controller, but aren't equivalent and don't provide simultaneous minimization of the integral criteria for disturbance and set point. The efficiency of using the proposed methodology for a linear and nonlinear implementation of proportional-integer- differential solutions of complex adjustment is shown. The proposed two-degree-of-freedom structure of the nonlinear controller has better universality than linear variants.