A simple frequency domain approach to the tuning of PID controllers: design of an interactive software tool

摘要

The purpose of this paper is to present a simple frequency domain approach to the design of PID controllers, which attempts to shape the loop frequency response in order to achieve specifications on setpoint following or on disturbance rejection. The design is essentially graphical and proceeds by trials and errors to a quick "visual" optimization of a number of frequency domain characteristics. To automate this procedure, an interactive software tool has been developed and implemented in an industrial control system. The usefulness of the proposed method is demonstrated with several test-examples, including systems with large time delays.