ABSTRACT
Due to the fact that sometimes a one-degree-of-freedom (1DOF) proportional, integral, and derivative (PID) has to deal with both set-point changes and load disturbances, it would be desirable to have at one's disposal simple methods to achieve a good compromise in this situation. Based on the well-established min-max model matching theory, this chapter addresses the smooth tuning of a 1DOF PID controller for both acceptable load disturbance attenuation and set-point tracking. The chapter is devoted to the problem statement, and reviews the model-matching analytical γ-tuning design. It is well-known that today most of the control systems in industry are still operated by PID controllers. Among the well-established analytical methods, the design of compensators by means of a desired closed loop specification is a quite common one. The chapter presents the min-max model matching approach to controller design. In classical control theory, the performance of a control system is usually characterized in terms of the transient and steady-state time-domain responses.
