Analytical PID control design in time domain with performance-robustness trade-off

Abstract

This Letter deals with the tuning of series proportional–integral–derivative (PID) controller to provide desired time-domain specifications. A simple analytical design method based on pole placement is developed. First, the integral and derivative time constants are obtained. Then, a good performance–robustness trade-off is achieved by suitably choosing the controller gain in the stability range. To evaluate the performance of the proposed method, an illustrative example is presented. Moreover, the simulation results are compared with those given by Skogestad internal model control, a well-known PID tuning method.