ABSTRACT
This chapter addresses proportional, integral, and derivative tuning for robust set-point response from a min-max model-matching formulation. It introduces the control framework and the model-matching problem (MMP) on which the controller derivation is based. The importance of the MMP relies on the fact that any generalized control problem can be expressed as a MMP. The chapter addresses how the λ parameter influences both the nominal and the robust stability of the proposed controller. The main objective is to prepare the groundwork for assisting in the selection of the tuning parameter based on robustness considerations. Regarding disturbance rejection, the proposed method provides an inferior performance with respect to the SIMC and AMIGO proposals. This is a quite expected result since the proposed tuning rule was derived for smooth set-point. Nevertheless, disregarding the lag-dominant plant, the disturbance rejection responses are not significantly inferior, and in the case of the SIMC, they are indeed quite comparable.
