Pi Tuning Under Performance Constraints

In this paper, a PI controller tuning method is proposed to meet several practical constraints such as the system bandwidth, the stability robustness and the low-frequency disturbance rejection ability. An objective sensitivity function is first given subject to the above constraints. The PI controller is then designed by making the actual closed-loop sensitivity function close to the optimal one in the frequency domain. Simulation examples are provided to demonstrate the effectiveness of the proposed method.