关键词:

PID控制, 鲁棒参数设计, 最小最大原理

Abstract:

A novel robust PID design method is presented in this paper.This method gets the reasonable PID controller parameters based on min-max principle，which can guarantee the control quality when the model varies in a certain range，decrease the sensitivity to the model uncertainty and increase the robustness of the closed-loop system.Since the min-max problem is not computationally tractable，the authors address this problem by first deriving an upper bound on the robust performance objective and then translating the min-max problem into the minimization problem with the upper bound on the worst-case objective.The paper proves the robust stability of the PID design method.The simulation result of CSTR problem is given to demonstrate the effectiveness of the robust PID design method.

Key words:

PID控制, 鲁棒参数设计, 最小最大原理