T. Kawabe and T. Tagami
PMM (Partial model matching) approach, GA with adaptive en-coding, 2-DOF (two degrees of freedom) PID controller, minimax design approach, time-delay systems
This paper presents a design method of robust PID controller with two degrees of freedom (2-DOF PID controller) for SISO plants with a time-delay and parametric uncertainty based on the partial model matching (PMM) approach. It is assumed that the adjustable parameters of the 2-DOF PID controller are chosen so as to minimize the two performance indices for step reference and disturbance responses, which are maximized by the plant parameters belonging to a given bounded set. Thus, the design problem is formulated as a multi-objective minimax optimization problem, which is solved by new genetic algorithm (GA). A novel feature of the present paper lies in the exact robust stability check for time-delay systems without using approximant. Numerical examples show the effectiveness of the present approach.
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