Graphical Robust PID Tuning Based on Uncertain Systems for Disturbance Rejection Satisfying Multiple Objectives

Tuning parameters of the PID controller which satisfying certain requirements is the key goal in uncertain systems. However, most studies ignored the disturbance rejection performance of the controller. This study investigated a novel graphical design method of improving disturbance rejection performance for uncertain system. The proposed method evaluates the disturbance rejection performance by analyzing reference to disturbance ratio (RDR). At the same time, the parameters of the controller which can stabilize the system and meet the robustness specification for the uncertain system are determined by specifications-oriented Kharitonov region (SOKR). Thus, the intersection region satisfying multiple objectives can be found by using this graphical method. Examples are given to demonstrate the flexibility and effectiveness of the proposed method.

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