TY - GEN

T1 - Optimized zero tracking and disturbance rejecting controllers -The generalized PID controller

AU - Hauksdóttir, Anna Soffía

AU - Herjólfsson, Gísli

AU - Sigursson, Sven P.

PY - 2007

Y1 - 2007

N2 - The tuning of PID controllers can essentially be posed as the problem of selecting open-loop zeros such as to obtain a desired system response. In this paper, the general case wherein stable open-loop system zeros can be cancelled is considered, allowing more freedom in placing open-loop zeros, as opposed to just two in the case of a PID controller. Similar to the PID controller, integrators are added in an outer loop, giving the controlled system desired input tracking and disturbance rejection properties. Plant poles can be placed, e.g., by optimization, in an inner loop, if desired. We assume that we can possibly only access the plant input and the plant output, thus a reduced order observer is included. Subsequently, optimal zeros in the outer loop are computed such as to minimize the deviation from a desired reference impulse response. Thus, the generalized PID controller is designed such that we can have any dynamic response of any order, a completely new transfer function in open loop, i.e., a new set of optimized zeros and a new set of selected or optimized poles. The closed loop is shown to be stable.

AB - The tuning of PID controllers can essentially be posed as the problem of selecting open-loop zeros such as to obtain a desired system response. In this paper, the general case wherein stable open-loop system zeros can be cancelled is considered, allowing more freedom in placing open-loop zeros, as opposed to just two in the case of a PID controller. Similar to the PID controller, integrators are added in an outer loop, giving the controlled system desired input tracking and disturbance rejection properties. Plant poles can be placed, e.g., by optimization, in an inner loop, if desired. We assume that we can possibly only access the plant input and the plant output, thus a reduced order observer is included. Subsequently, optimal zeros in the outer loop are computed such as to minimize the deviation from a desired reference impulse response. Thus, the generalized PID controller is designed such that we can have any dynamic response of any order, a completely new transfer function in open loop, i.e., a new set of optimized zeros and a new set of selected or optimized poles. The closed loop is shown to be stable.

KW - Disturbance rejection

KW - Generalized PID

KW - Linear continuous lime systems

KW - Tracking

KW - Zero optimizing controllers

UR - http://www.scopus.com/inward/record.url?scp=39549113939&partnerID=8YFLogxK

U2 - 10.1109/ACC.2007.4282667

DO - 10.1109/ACC.2007.4282667

M3 - Conference contribution

AN - SCOPUS:39549113939

SN - 1424409888

SN - 9781424409884

T3 - Proceedings of the American Control Conference

SP - 5790

EP - 5795

BT - Proceedings of the 2007 American Control Conference, ACC

T2 - 2007 American Control Conference, ACC

Y2 - 9 July 2007 through 13 July 2007

ER -