Details

Autor(en) / Beteiligte

• Grassi, Elena

Titel

Proportional-integral-derivative controller tuning by frequency loop-shaping

Ort / Verlag

ProQuest Dissertations & Theses

Erscheinungsjahr

1999

Quelle

ProQuest Dissertations & Theses A&I

Beschreibungen/Notizen

• A frequency loop-shaping technique is proposed for tuning Proportional-Integral-Derivative controllers. In this approach, the controller parameters are tuned so as to minimize the difference between the actual and a target loop transfer function, in an L∞ sense. The simple structure of these controllers allows the formulation of the loop-shaping objective as a convex optimization problem in the frequency domain that can be solved numerically in a reliable way. Several aspects of the basic problem are analyzed. This includes general guidelines to the relationship between the system identification technique and the proposed tuning method; the use of feed-forward filtering to reject measured disturbances; and, the alternative selection of an L2/L∞ cost function. In addition, an adaptive tuning algorithm that mimics the properties of the off-line tuning method is developed. The extension of the method for multivariable systems is also discussed. Several examples are presented to illustrate the application of the proposed tuning technique and to compare it with existing methods.