MV-PID controller for linear systems subject to input constraint

Since PID controller is widely applied in control system and output variance is directly related to economic benefit of the real system, it has a desire for variance optimizing PID controller under input constraint in engineering scenario. MV-PID control is proposed in this paper and its tuning rule is derived accordingly. In the presence of input constraint, the proposed controller keeps the ability of step/constant disturbance rejection as general PID controller; and moreover, its variance performance is very close to that of the constrained MVC. Numerical example demonstrates the effectiveness of the proposed controller.