Two-Degree-of-Freedom PID Tuning Based on an Uncertainty and Disturbance Estimator *

摘要: In this paper, a simple tuning method for two-degree-of-freedom (2DOF) PIDs is presented. The proposed methodology based on an uncertainty and disturbance estimator. This model-based technique allows decoupling of the tracking rejection performances. It shown how, second-order systems with appropriate adjustments, equivalent 2DOF PID controller can be obtained. parameters are then easily tuned to meet desired performance by specifying reference model. Furthermore, one single parameter adjusted online obtain trade-off between robustness in each particular application. tested wide range plants, including unstable first-order time delay. Two comparisons well-known methods performed.