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Performance/robustness tradeoff analysis of PI/PID servo and regulatory control systems

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4 Author(s)
Alfaro, V.M. ; Escuela de Ing. Electr., Univ. de Costa Rica, San Jose, Costa Rica ; Vilanova, R. ; Méndez, V. ; Lafuente, J.

This paper presents a performance (Integrated Absolute Error IAE) - robustness (Maximum Sensitivity Ms) tradeoff analysis for First-Order-Plus-Dead-Time (FOPDT) and Second-Order-Plus-Dead-Time (SOPDT) servo-control and regulatory control systems with One-Degree-of-Freedom (1-Dof) and Two-Degree-of Freedom (2-Dof) Proportional Integral (PI) and Proportional Integral Derivative (PID) controllers. Analysis shows that for same model, performance optimized 1-DoF PI controllers are more robust than the PIDs but their optimal performance is lower. The performance optimized regulatory control systems, PI and PID, are less robust than the servo-control ones, requiring also more performance degradation to reach the same robustness level.

Published in:

Industrial Technology (ICIT), 2010 IEEE International Conference on

Date of Conference:

14-17 March 2010