Research on two-degree-of-freedom PID control based on tracking differentiator

For production systems with input disturbance and output noise, a two-degree-of-freedom PID control method is proposed, which can effectively suppress the input disturbance of the system and ensure the controller setpoint tracking performance. The designed two-degree-of-freedom controller consists of a disturbance rejection controller and a setpoint tracking controller. The disturbance rejection controller consists of a PID controller based on the interference observer and the expectation model. The parameters of the setpoint tracking controller are tuned using a differential evolution algorithm (DE). At the same time, a tracking differentiator (TD) is used to process the output noise to suppress the effects of output measurement uncertainty. Finally, compared with the existing algorithms, the feasibility and superiority of the proposed algorithm are verified.