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Simple Robust Tuning of 2DoF PID Controllers From A Performance/Robustness Trade‐off Analysis

This paper presents the performance/robustness trade‐off analysis of servo‐control and regulatory‐control systems. In this analysis, first‐order‐plus‐dead‐time (FOPDT) and second‐order‐plus‐dead‐time (SOPDT) controlled processes with one‐degree‐of‐freedom (1DoF) and two‐degree‐of‐freedom (2DoF) proportional integral (PI) and proportional integral derivative (PID) controllers are considered. The analysis shows that for the same process, performance‐optimized 1DoF PI controllers are more robust to changes in the process characteristics, but the optimal performance of these controllers is inferior to that of the corresponding PID controllers. Regulatory‐control performance‐optimized PI and PID controllers are less robust than the corresponding servo‐control systems, and a greater level of performance degradation is required in the former case to ensure that the robustness level becomes comparable to that in the latter case.