DESIGN OF ROBUST PID CONTROLLERS FOR FIRST-ORDER PLUS TIME DELAY SYSTEMS BASED ON FREQUENCY DOMAIN SPECIFICATIONS | ||||
| JES. Journal of Engineering Sciences | ||||
| Article 1, Volume 43, No 4, July and August 2015, Page 472-489 PDF (753.57 K) | ||||
| Document Type: Research Paper | ||||
| DOI: 10.21608/jesaun.2015.115197 | ||||
 View on SCiNiTO | ||||
| Author | ||||
| Noha Medhat Darwish | ||||
| Electrical Engineering Dept., Faculty of Engineering, Assiut University, Assiut, Egypt | ||||
| Abstract | ||||
| This paper considers a design method for PID controllers to achieve the robustness to the uncertainty of the time delay for the first-order plus time delay system (FOPTD). Initially, the stabilizing regions of the PID controller gains are determined by a graphical stability method. Then, we specify two simultaneous design specifications: gain margin and phase crossover frequency. These specifications give a set of stabilizing PID controllers. To get a unique PID controller, we introduce an additional constraint which is finding the smallest absolute value of the slope of the open-loop system magnitude at the specified phase crossover frequency. The obtained PID controller is located in the stability region, and also robust to system time delay variation due to the proposed constraint. | ||||
| Keywords | ||||
| First-Order Plus Time Delay (FOPTD) systems; Gain margin; Proportional-Integral- Derivative (PID) controllers; Robustness; Stabilizing region | ||||
|
Statistics Article View: 88 PDF Download: 311 |
||||
