Optimal-tuning PID controller design in the frequency domain with application to a rotary hydraulic system

Abstract In this paper a new PID controller design scheme that uses optimisation in the frequency domain is proposed for industrial process control. An optimal-tuning PID controller is designed to satisfy a set of frequency-domain performance requirements: gain margin, phase margin, crossover frequency and steady-state error. Using an estimated process frequency response, the method can provide optimal PID parameters even in cases where the process dynamics are time variant. This scheme is demonstrated through its application to a rotary hydraulic system and its performance is compared with six alternative PID tuning rules.

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