PID Robust Model Following Control

Abstract The paper deals with properties of a two-loop structure of PID control system containing the nominal model of controlled plant and two PID controllers. The special attention is paid to high robustness of considered control structure to the perturbations of the controlled plant in relation to its nominal model and to disturbances commonly met in industrial practice. The results of simulations confirm high robustness of the considered control structure. Owing to its advantages, the proposed structure of control may find wide application in new implementation of PID to robust control of the parameter-varying process plants.