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This paper proposes an optimization algorithm for the automatic design of robust PID controllers using Quantitative Feedback Theory (QFT) specifications. The proposed algorithm is based on a criterion to minimize the energy of the control effort. To illustrate the methodology, the pitch angle of a laboratory helicopter is used as a model application with structured uncertainty. The results show that the design of robust controller can be formulated using an objective function and a number of restrictions that are developed as specifications.
CitationComasòlivas, R.; Escobet, T.; Quevedo, J. Automatic design of robust PID controllers based on QFT specifications. A: IFAC Conference on Advances in PID Control. "IFAC Conference on Advances in PID Control". Brescia: 2012, p. 1-6.
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