• Journal of the Institute of Convergence Signal Processing
• /
• v.5 no.1
• /
• pp.66-72
• /
• 2004

PID control has been well used for several decades. For PID algorithms, some tuning methods are used for selecting PID parameters and with these selected parameters, PID control system is designed. But in some cases various kinds of performance indices are used instead of well-known tuning rules, and so variable type of performance index must be tested so that the designed control system meets the some specifications. For 2 DOF PID controller design this paper presents a linear combinational type of performance indices constituting of index for robust performance, which is obtained by h infinity norm of a weighted complementary sensitivity function, including other time domain indices such as error, energy and changing rate of control input. By numerical methods, the optimal 2 DOF PID parameters are obtained. Therefore various types of 2 degree of freedom PID controllers such as I-PD controller are used so that this two degree of freedom PID controllers may give more desirable output characteristics. Simulations are done with MATLAB m file and mdl files.