TUNING RELATIONS FOR ROBUST PID DESIGN BASED ON MIN MAX OPTIMIZATION

This communication deals with the design of the widely used ISA PID controller. The main goal is to provide tuning rules in such a way that usual specifications, as the desired closed loop time constant, and robustness issues can be dealt in a simple and direct way. Modern Robust control considerations, such as min-max optimization, are used to get the controller structure as well as the expression of the PID controller parameters in terms of the problem data.