Interval PID Tuning Rules for a Fractional-Order Model Set

Abstract The paper describes new PID tuning rules suitable for both researcher and industrial practice. Compared to other ones, the new method provides an admissible interval of all controller parameters satisfying the required closed loop performance. The novel PID tuning technique consists of an exact identification and design part. The identification is based on the model set combining a priori information about the process with experimental data. More specifically, a class of fractional-order-pole processes is a priori assumed and moments of the impulse response are taken as characteristic numbers. In the design part, a generalized robustness regions method is employed to compute the boundary of the PID parameters region ensuring common frequency domain requirements. The described procedure was partly implemented and packed into the interactive Java applet freely accessible at http://www.pidlab.com .