Repository logo

Infoscience

  • English
  • French
Log In
Logo EPFL, École polytechnique fédérale de Lausanne

Infoscience

  • English
  • French
Log In
  1. Home
  2. Academic and Research Output
  3. Journal articles
  4. PID Controller Tuning Using Bode's Integrals
 
research article

PID Controller Tuning Using Bode's Integrals

Karimi, A.  
•
Garcia, D.  
•
Longchamp, R.  
2003
IEEE Transactions on Control Systems Technology

A new method for PID controller tuning based on Bode's integrals is proposed. It is shown that the derivatives of amplitude and phase of a plant model with respect to frequency can be approximated by Bode's integrals without any model of the plant. This information can be used to design a PID controller for slope adjustment of the Nyquist diagram and improve the closed-loop performance. Besides, the derivatives can be also employed to estimate the gradient and the Hessian of a frequency criterion in an iterative PID controller tuning method. The frequency criterion is defined as the sum of squared errors between the desired and measured gain margin, phase margin and crossover frequency. The method benefits from specific feedback relay tests to determine the gain margin, the phase margin and the crossover frequency of the closed-loop system. Simulation examples and experimental results illustrate the effectiveness and the simplicity of the proposed method to design and tune the PID controllers.

  • Files
  • Details
  • Metrics
Type
research article
DOI
10.1109/TCST.2003.815541
Web of Science ID

WOS:000188048000003

Author(s)
Karimi, A.  
Garcia, D.  
Longchamp, R.  
Date Issued

2003

Published in
IEEE Transactions on Control Systems Technology
Volume

11

Issue

6

Start page

812

End page

821

Subjects

PID controller

•

relay feedback

•

iterative tuning

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
LA  
Available on Infoscience
November 26, 2004
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/176248
Logo EPFL, École polytechnique fédérale de Lausanne
  • Contact
  • infoscience@epfl.ch

  • Follow us on Facebook
  • Follow us on Instagram
  • Follow us on LinkedIn
  • Follow us on X
  • Follow us on Youtube
AccessibilityLegal noticePrivacy policyCookie settingsEnd User AgreementGet helpFeedback

Infoscience is a service managed and provided by the Library and IT Services of EPFL. © EPFL, tous droits réservés