Multi-criteria Optimization of PD Controllers for Plants including Integral Action
Paper i proceeding, 2018

A simple design method for robust PD controllers is presented for systems including integral action. The design method is based on a multi-criteria optimal control formulation, which is easily solved by a few lines of MATLAB code. Most criteria are based on H∞measures, but since the focus is on reference signal tracking and not load disturbance compensation, the settling time is also included as a relevant performance measure. Since a PD controller is equivalent to a lead filter, the optimal PD controller is compared with ordinary text book design rules for lead filters. More specifically, it is shown that the common recommendation to place the mid frequency of the lead filter at the desired gain crossover frequency often gives bad servo performance. The suggested optimal solution, still including robustness and control activity adjustments, is on the other hand a simple and flexible design method for arbitrary plants including integral action.

H∞ control

optimization

lead lag design

performance

education

robustness

PD control

Författare

Bengt Lennartson

Chalmers, Elektroteknik, System- och reglerteknik

IFAC-PapersOnLine

24058963 (eISSN)

Vol. 51 4 286-291

3rd IFAC Conference on Advances in Proportional-Integral-Derivative Control PID 2018
Ghent, Belgium,

Ämneskategorier

Reglerteknik

Signalbehandling

Annan elektroteknik och elektronik

DOI

10.1016/j.ifacol.2018.06.079

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Senast uppdaterat

2021-07-07