PIDrobust Toolbox – Performance tuning for PID controlled time delay systems with parameter uncertainties

Most of the PID controller tuning rules for time delay LTI systems existing today use only time delay approximations and ignore parameter uncertainties in the modeled system. This article presents a toolbox for parameter optimization and loop shaping for PID parameter tuning with explicit consideration of the time delay and the parameter uncertainties of the system. In addition a root locus method for time delay systems is implemented. All tuning methods use the nominal model to formulate the performance requirements. During the subsequent optimization, the parameter uncertainties are included through limitation of the PID parameter space. This parameter space is calculated by the parameter space approach and serves as the basis of the presented tuning methods. Hence, all tuning methods guarantee robust stability.