A Partial Model Matching Design of Robust 2DOF PID Controller for Time-delay Systems

T. Kawabe and T. Tagami (Japan)


PMM(Partial model matching) approach, GA with adaptive encoding, 2DOF(2 degrees of freedom) PID controller,Minimax design approach, Time-delay systems


This paper presents a design method of robust PID con troller with two degrees of freedom (2DOF PID controller) for SISO plants with a time-delay and parametric uncer tainty based on the partial model matching (PMM) ap proach. It is assumed that the adjustable parameters of the 2DOF PID controller are chosen so as to minimize the two performance indices for step reference and disturbance re sponses which maximized by the plant parameters belong ing to a given bounded set. Thus the design problem is for mulated as a multi-objective minimax optimization prob lem, which is solved by new genetic algorithm (GA). A novel feature of the present paper lies in the exact robust stability check for time-delay systems without using ap proximant. Numerical examples show the effectiveness of the present approach.

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