参数不确定时滞系统的鲁棒PID控制

Robust control design for time-delay systems with parameter (uncertainties) using the PID controller

提出一种简单而有效的参数不确定时滞系统鲁棒PID控制器设计方法.通过在kp-ki平面上绘制稳定边界线,确定稳定的PID控制器参数区域;推导了一阶不稳定时滞系统PI控制器和PID控制器的存在性条件;基于推广到时滞系统的棱边定理,确定所有鲁棒PID控制器参数集.仿真实例表明了该方法的优越性.

A simple and efficient method for the design of robust PID controllers for time-delay systems with parameter uncertainties is presented. The method is based on plotting the stability boundary locus in the kp-ki plane and then calculating stabilizing values of the parameters of a PID controller. Moreover, a necessary condition for the existence of a PI controller or a PID controller to simultaneously stabilize the open-loop unstable time-delay systems is also derived. The complete set of robust PID controller parameters is determined by the edge theorem extended to time-delay systems. Examples are given to show the benefit of the presented method.