Graphical PID Controller Tuning Method for Parameter Uncertain System

In this paper, a unique graphic method of tuning the parameters of PID controller for model parameter uncertain systems is proposed. The Kharitonov theorem is used to replace the parameters uncertain system with a set of boundary systems and to solve the parameters space of the PID controller. In this paper, the Internal Model Controller (IMC) is introduced to redefine the parameters of the controller. Then virtual margin tester is introduced to ensure that the system can be calculated by Maximum Sensitivity. The value range satisfy certain robustness. The controller parameters space is determined by the restrictions of gain margin, phase margin and maximum sensitivity. An example results from simulation is presented to demonstrate the effectiveness and applicability of the proposed method.