Analytical Design of PID Controllers [Bookshelf]

Abstract

Rev iewed by Lee H. Keel T he proportional-integral-derivative (PID) controller dominates the control industry and, by some estimates, accounts for more than 95% of the controllers in use worldwide [1], [2]. Its working is based on the following simple fact: if a stable dynamic system is subject to constant reference and disturbance inputs, all signals in the system tend asymptotically to constant values and the input to each integrator tends to zero. This applies to continuous-time; discrete-time; linear; nonlinear; single-input, single-output (SISO); and multivariable, multiple-input, multiple-output systems with and without time delays. This immediately suggests that tracking and disturbance rejection of constant inputs can be accomplished by generating the tracking error and using it to drive integrators that generate the control signal. This architecture is inherently robust relative to state feedback, observer-based, high-order optimal systems [3]. This monograph is focused exclusively on the PID controller. It is timely and contributes substantially to the art and science of control system engineering. » Timely, because PID controllers are increasingly being used in dynamically changing environments, such as those encountered in driverless cars, unmanned aerial vehicles, and distributed robotics. In these applications, there is an urgent need for design methods and algorithms that can quickly and accurately update controller gains. » Art, because the book proposes a multiobjective approach to design, allowing the designer to creatively blend various performance measures using classical and modern approaches. » Science, because rigorous analytical approaches to achieve such designs are also presented. This monograph is the third in a series (the others are [4] and [5]) focused on the development of PID controller design theory based on the computation of the stabilizing set. CONTENTS