Optimization of PID controller with higher-order noise filter

The proposed PID controller optimization is based on the frequency response of a process Gp(s) and maximization of the proportional gain, under constraints on the desired sensitivity to measurement noise, desired maximum sensitivity and desired maximum complementary sensitivity. The set-point and load disturbance step responses with negligible overshoot are obtained for stable processes, processes with oscillatory dynamics, integrating and unstable processes. Simulations, with a band-limited white noise added to the controlled variable, and experimental results, on a laboratory thermal plant with noisy measurements, are used to demonstrate the effectiveness of the proposed PID optimization method.