Herramienta para la sintonía robusta de controladores PI/PID de dos grados de libertad

The aim of this article is to expose a robust tuning method for 2DoF PI/PID controllers. It has been formulated as a non-convex optimization problem with some restrictions, in which, the value of objective functions should be minimized based on the absolute error integral, controller fragility and the control signal effort. The solution is made with the Particle Swarn Optimization algorithm. The design, leaned on a model of a plant, has been split for load perturbations and changes on reference responses. The robustness is a restriction based on maximum sensibility Ms and complementary sensibility Mt. The proposal was compared with MIGO and SIMC methods, concluding that PI controllers designed taking into account Ms and Mt circles ensures greater relative stability control system to vary the static gain of the process.