Near optimal tuning rules for PI and PID controllers

Timing rules for PI and PID controllers for stable non oscillating plants are presented in this paper. These rules are based on an optimization procedure, where both low frequency performance, mid frequency stability margins and high frequency control activity are taken into account. The required plant knowledge is typically the phase crossover frequency of the plant and the corresponding gain at this frequency, like in Ziegler Nichols frequency design method. Near optimal tuning rules are presented based on this knowledge and the plant low frequency gain, both for PI and PID controllers. Related results are also given for plants with very high or no phase crossover frequency at all. Copyright (C) 2000 IFAC.