Robust tuning of low-order controllers via uncertainty model identification (Q1817712)

A tuning method for a controller of given structure is proposed, with particular emphasis on low-order compensators. The method consists of the processing of experimental results and prior information on the plant to be controlled, in order to obtain a plant uncertainty model, composed of a nominal model and a bounded perturbation representing the modeling error. Given a designed controller the performances that can be guaranteed for all systems belonging to the uncertainty model are derived. Performances guaranteed by applying the designed compensator to the actual plant may be evaluated. An example of PID compensator tuning is presented.