Combined Sensitivity–Complementary Sensitivity Min–Max Approach for Load Disturbance–Setpoint Trade-off Design

DOI: 10.1007/978-0-387-74905-1_24


An approach to proportional-integrative-derivative controller tuning based on a simple plant model description, first order
plus time delay, is presented. The approach is based on the formulation of an optimal approximation problem in the frequency
domain for the sensitivity transfer function of the closed loop. The inclusion of the sensitivity function allows for a disturbance
attenuation specification. The solution to the approximation problem provides a set of tuning rules that constitute a parameterized
set that is formulated in the same terms as in [1] and includes, a third parameter that determines the operating mode of the
controller. This factor allows one to determine a tuning either for step response or disturbance attenuation. The approach
can be seen as an implicit 2-degree-of-freedom controller because by using one parameter, the operating mode (servo/regulation)
of the control system is determined as well as the appropriate tuning of the controller.

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