Interval-model-based global optimization framework for robust stability and performance of PID controllers

摘要: Graphical abstractDisplay Omitted HighlightsConstrained particle swarm optimization algorithm is used to tune the parameters of a robust PID controller.The design oriented towards control performance and stability.Various control-performance criteria can be easily implemented.Robust stability within intervals uncertain ensured.Useful, computationally tractable efficient framework based on interval models. controller structure regarded as standard in control-engineering community supported by vast range automation hardware. Therefore, controllers are widely industrial practice. However, problem tuning has tackled engineer this often not dealt with an optimal way, resulting poor even compromised safety. The paper proposes framework, which involves using model for describing or variable dynamics process. employs obtaining best performing regard several possible criteria, but at same time taking into account complementary sensitivity function constraints, ensure robustness bounds parameters' intervals. Hence, presented approach enables simple, constrained solution controller, while considering eventual gain, pole, zero time-delay uncertainties defined controlled results provide good assuring prescribed uncertainty constraints. Furthermore, adequate only if relative system perturbations considered, proposed paper. been tested various examples. suggest that it useful parameters, favorable closed-loop, when considerable process expected.