S. Skoczowski, S. Domek, and K. Pietrusewicz


Closed-loop systems, robust PID control, model-following control


The paper deals with properties of the so-called model-following control systems that contain a nominal model of the controlled plant and two PID controllers. An approach to design robust controllers for a SISO process from the viewpoint of its input sensitivity is presented. The proposed structures have been tested by simulation and experiment on linear and nonlinear control plants with perturbed parameters. Results of tests lend support to the view that the proposed structure significantly extends the range of applicability, performance, and robustness of the control system, and thereby eliminates to a large extent the need to employ an adaptation mechanism. Therefore, the structure may find wide application to robust control of plants with time-varying parameters.

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