DESIGN-ORIENTED IDENTIFICATION BASED ON SINE WAVE SIGNAL AND ITS ADVANTAGES FOR TUNING OF THE ROBUST PID CONTROLLERS

For tuning of PID controllers, modern engineering methods use frequently design-oriented identification of the controlled plant (Visoli, 2006). The main idea of the design oriented-identification consists in a purposeful formulation of the identification method supporting the fulfillment of control objectives (Ingimundarson, 2004). The proposed paper shows that a reliable choice of the sine wave signal frequency used for identification of the uncertain plant and application of the proposed frequency-domain engineering method guarantee achieving required performance in terms of specified settling time and maximum overshoot. The paper deals with setting up and implementation of the proposed modern engineering method to control benchmark examples (Asrom, 2000) with prespecified performance. Robustness properties are studied on a physical DC motor model.