A Novel Tool for Multi-Model PID Controller Design

Abstract In this paper, it is shown how a robust perfomance Pill controller can be synthesized for a set of possible linear models. The method is carried out by solving a min-max optimization problem formulated in frequency domain. As the synthesis of a low-order controller for a high-order plant is in general nonconvex, the original optimization problem is divided into two convex optimization subproblems, which are solved iteratively until to achieve the complete convergence. These subproblems are constructed using a general two degree-of-freedom control configuration, in which all commercial industrial PID controllers can be converted.