Evaluation and simple tuning of PID controllers with high-frequency robustness
Journal article, 2006

An extensive study of robust and optimal tuning of PID controllers for stable non-oscillating plants is presented. It is built on a set of well defined criteria related to output performance,stability margins and control activity. Different interesting properties of the closed loop systems are observed. A set of simple tuning rules is based on these observations. These rules are compared to a couple of well established tuning methods and are shown to give well competitive results, especially when simplicity, low control activity and high-frequency robustness are emphasized. Derivative action is shown to improve performance significantly compared to PI control, with equal stability margin and a moderate increase of control activity, for most plants, including those with significant time delay.

optimal systems


PID control


time delay


Birgitta Kristiansson

Chalmers, Signals and Systems, Systems and control

Bengt Lennartson

Chalmers, Signals and Systems, Systems and control

Journal of Process Control

Vol. 16 2 91-102

Subject Categories

Production Engineering, Human Work Science and Ergonomics

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