文章基本信息

标题：Multi-criteria Optimization of PD Controllers for Plants including Integral Action
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作者：Bengt Lennartson
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：4
页码：286-291
DOI：10.1016/j.ifacol.2018.06.079
语种：English
出版社：Elsevier
摘要：AbstractA simple design method for robust PD controllers is presented for systems including integral action. The design method is based on a multi-criteria optimal control formulation, which is easily solved by a few lines of MATLAB code. Most criteria are based on H∞measures, but since the focus is on reference signal tracking and not load disturbance compensation, the settling time is also included as a relevant performance measure. Since a PD controller is equivalent to a lead filter, the optimal PD controller is compared with ordinary text book design rules for lead filters. More specifically, it is shown that the common recommendation to place the mid frequency of the lead filter at the desired gain crossover frequency often gives bad servo performance. The suggested optimal solution, still including robustness and control activity adjustments, is on the other hand a simple and flexible design method for arbitrary plants including integral action.
关键词：KeywordsPD controloptimizationlead lag designH∞controlperformancerobustnesseducation