Optimal Robust Tuning for 1DoF PI/PID Control Unifying FOPDT/SOPDT Models

The aim of the paper is to present tuning equations for one-degree-of-freedom (1DoF) proportional integral (PI) and proportional integral derivative (PID) controllers. These are based on a performance/robustness trade-off analysis with first- and second-order plus deadtime models. On the basis of this analysis a tuning method is developed for 1DoF PI and PID controllers for servo and regulatory control that allows designing closed-loop control systems with a specified MS robustness that at the same time have the best possible IAE performance. The control system robustness is adjusted varying only the controller proportional gain.