Optimum Tuning of PID-PD Controller considering Robust Stability and Sensor Noise Insensitivity

센서 잡음 저감도 및 안정-강인성을 고려한 PID-PD 제어기의 최적 동조

In this paper, we propose tuning method of PID-PD controller to satisfy design specifications in frequency domain as well as time domain. The proposed tuning method of PID-PD controller that consist of the convex set of PID and PI-PD controller controls the closed-loop response to locate between the step responses, and Bode magnitudes of closed-loop transfer functions controlled by PID and PI-PD controller. The controller is designed by the optimum tuning method to minimize the proposed specific cost function subject to sensor noise insensitivity and robust stability. Its effectiveness is examined by the case study and analysis.