Technical Communique: An extension of tuning relations after symmetrical optimum method for PI and PID controllers

Authors:
Stefan Preitl;Radu-Emil Precup
Affiliations:
Politehnica University of Timisoara, Department of Automation, Bd. V. Parvan 2, RO-1900 Timisoara, Romania;Politehnica University of Timisoara, Department of Automation, Bd. V. Parvan 2, RO-1900 Timisoara, Romania
Venue:
Automatica (Journal of IFAC)
Year:
1999

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Abstract

The paper presents relations for PI and PID controller tuning based on a generalization of the relations after symmetrical optimum (SO) method, introduced by Kessler (Regelungstechnik, 6 (1958), 395-400 and 432-436), for a class of systems specific to the field of electrical drives. The tuning relations, based on a method developed by Preitl and Precup (Transactions on AC and CS 41(55), (1996) 47-55; 42(56) (1997) 97-105), offer values for controller parameters in accordance with previously accepted desired performance. In the case of plants with time-invariant parameter k"P, the tuning after the given relations has the advantage of a maximum value of phase margin (@f"r"M). In the case of plants with time-variant k"P, the given relations enable the computation of controller parameters by fulfilling a minimum guaranteed value of the phase margin (@f"r"m).