Evaluation and simple tuning of PID controllers with high-frequency robustness
Artikel i vetenskaplig tidskrift, 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, Signaler och system, System- och reglerteknik

Bengt Lennartson

Chalmers, Signaler och system, System- och reglerteknik

Journal of Process Control

Vol. 16 2 91-102


Produktionsteknik, arbetsvetenskap och ergonomi

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