Bridging Time and Frequency for Low-Order, Model-Based PID Control

In the context of traditional PID model-based control, where sinusoidal or PRBS excitation on a real plant is not advisable or desirable, this paper outlines a method to obtain some relevant information by merely comparing model-based and actual time-domain reaction curves. This comparative analysis yields valuable information that can be subsequently translated into a practical estimate of uncertainty in the frequency domain. This, in turn, will enable the control designer to gain some insight into imposing realistic boundaries for closed-loop response specifications, which will ultimately be consistent with what can be expected from the actual plant response. The conditions for robust stability and robust performance are outlined and further assessed through academic simulation experiments. Copyright (C) 2024 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)