Optimization of IMC-PID Tuning Parameters for Adaptive Control: Part 1

This paper describes Part 1 of a two-part strategy for robust certainty equivalence adaptive PID control. In Part 1 we develop the strategy for simple PID controller tuning which maximizes the bandwidth subject to gain and phase margin constraints. An implementation of the non-adaptive strategy in a real time environment using model estimation based on non-convex optimization is described. The test shows the potential of the tuning method. In the next part, which due to space limitations could not be included here, we describe adaptive implementation.