Tuning of robust PID controllers for typical industrial processes
典型工业过程鲁棒PID控制器的整定

Robust PID tuning formulae are derived for typical industrial processes such as first-order plus dead-time processes,integrating processes,first-order delayed unstable processes and second-order plus dead-time processes.A robust PID controller design method that incorporates disturbance attenuation and robustness is proposed.The problem is the same as the optimization problem with a non-convex constraint.Genetic algorithm is used to solve the problem due to its global search ability,and curve fitting is used to derive the tuning formulae.Simulation results show that these formulae are effective and the resulting PID settings have good compromise between disturbance attenuation and robustness.