PID controller design for hydraulic turbine based on sensitivity margin specifications

The paper presents a proportional-integral-derivative (PID) controller design procedure for a hydraulic turbine generator governor meeting sensitivity margin specifications. The closed-loop performance is guaranteed over wide range of operating conditions of the interconnected system. The main advantage of the proposed method consists in the simple design using only one tuning parameter. The control performance of the presented method is compared on simulations with the procedure guaranteing gain and phase margins using non-convex optimization.