l1 PID Controller Synthesis via Delta Operator Approach

This paper proposes a systematic way of designing PID controllers for discrete-time systems with l
1
performance. By using the system augmentation techniques, the PID control system is converted into a static output feedback (SOF) control system. Then, the SOF control system is represented in delta domain. A cone complementary Linearization (CCL) algorithm is presented to calculate the desired SOF controller, from which the PID controller can be recovered. Simulation examples are given to show the effectiveness of the proposed method.