ON TRACKING AND ANTIDISTURBANCE ABILITY OF PID CONTROLLERS

In this paper, we are concerned with the tracking performance and antidisturbance ability of the widely used proportional-integral-derivative (PID) controllers in practice. Towards this end, we consider a basic class of second-order nonlinear stochastic control systems subject to model uncertainties and external disturbances, and focus on the ability of the classical PID controller to track time-varying reference signals. First, under some suitable conditions on the system nonlinear functions, reference signals, and external disturbances, we show that such control systems can be stabilized in the mean square sense, provided that the three PID gains are selected from a stability region constructed in the paper. Besides, it is shown that the steady-state tracking error has an upper bound proportional to the sum of the varying rates of reference signals, the varying rates of external disturbances, and the intensity of random noises. Meanwhile, its proportional coefficient depends on the selection of PID gains, which can be made arbitrarily small by choosing suitably large PID gains. Finally, by introducing a desired transient process which is shaped from the reference signal, a new PID tuning rule is presented, which can guarantee both the expected steady state and transient tracking performance.