PID control design based on a GPC approach

In this paper, we present the design of a PID controller that is applicable to commonly encountered process dynamics and that yields an optimum control performance according to a specified performance index. Generalized predictive control (GPC) design principles are used to develop the PID control with predictive capabilities. The user can specify an optimal performance index directly or, alternatively, classical performance measures in terms of a closed-loop damping ratio and natural frequency. Simulation examples are presented to highlight the principles and effectiveness of this control scheme.