Optimal Nash tuning rules for robust PID controllers |
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| Authors: | Helem Sabina Sánchez Antonio Visioli Ramon Vilanova |
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| Institution: | 1. Research Center for Supervision, Safety and Automatic Control (CS2AC) Universitat Politècnica de Catalunya, Rambla Sant Nebridi, s/n, 08022 Terrassa, Spain;2. Dipartimento di Ingegneria Meccanica e Industriale, University of Brescia, Via Branze 38, Brescia I-25123, Italy;3. Departament de Telecomunicació i Enginyeria de Sistemes, Universitat Autònoma de Barcelona, Bellaterra, Barcelona 08193, Spain |
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| Abstract: | In this paper, we propose tuning rules for one degree-of-freedom proportional-integral-derivative controllers, by considering important aspects such as the trade-off in the performance in the servo and regulation operation modes and the control system robustness by constraining the maximum sensitivity peak. The different conflicting objectives are dealt with by using a multi-objective optimization algorithm to generate the trade-off optimal solutions. In this context, a simple tuning rule is determined by using the Nash solutions as a multi-criteria decision making technique. The Nash criteria is shown to provide convenient trade-off solutions for the controller tuning problem. Illustrative simulation examples show the effectiveness of the method. |
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| Keywords: | corresponding author |
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