13fd533dd0733b62d757a180d9d7a3f4 appsci_a2019v9p3320.pdf 8e89733ae6a12ee24ef9688038de7e022db34126 appsci_a2019v9p3320.pdf 044846f1e140d6696846b48fd10899fdd1ecc0e0655874ace2d0c01a4a1f2244 appsci_a2019v9p3320.pdf Title: Discrete-Time First-Order Plus Dead-Time Model-Reference Trade-off PID Control Design Subject: The present study proposes a novel proportional-integral-derivative (PID) control design method in discrete time. In the proposed method, a PID controller is designed for first-order plus dead-time (FOPDT) systems so that the prescribed robust stability is accomplished. Furthermore, based on the control performance, the relationship between the servo performance and the regulator performance is a trade-off relationship, and hence, these items are not simultaneously optimized. Therefore, the proposed method provides an optimal design method of the PID parameters for optimizing the reference tracking and disturbance rejection performances, respectively. Even though such a trade-off design method is being actively researched for continuous time, few studies have examined such a method for discrete time. In conventional discrete time methods, the robust stability is not directly prescribed or available systems are restricted to systems for which the dead-time in the continuous time model is an integer multiple of the sampling interval. On the other hand, in the proposed method, even when a discrete time zero is included in the controlled plant, the optimal PID parameters are obtained. In the present study, as well as the other plant parameters, a zero in the FOPDT system is newly normalized, and then, a universal design method is obtained for the FOPDT system with the zero. Finally, the effectiveness of the proposed method is demonstrated through numerical examples. Keywords: PID control; model-based design; discrete time system; sensitivity function; robust stability; FOPDT system Author: Ryo Kurokawa, Takao Sato, Ramon Vilanova and Yasuo Konishi Creator: LaTeX with hyperref package Producer: pdfTeX-1.40.18 CreationDate: Wed Aug 7 11:23:37 2019 CEST ModDate: Wed Aug 7 11:23:37 2019 CEST Tagged: no UserProperties: no Suspects: no Form: none JavaScript: no Pages: 19 Encrypted: no Page size: 595.276 x 841.89 pts (A4) Page rot: 0 File size: 873335 bytes Optimized: no PDF version: 1.5 name type encoding emb sub uni object ID ------------------------------------ ----------------- ---------------- --- --- --- --------- PKLMSN+URWPalladioL-Ital Type 1 Custom yes yes no 121 0 UJCOBG+URWPalladioL-Bold Type 1 Custom yes yes no 122 0 EETISL+URWPalladioL-Roma Type 1 Custom yes yes no 123 0 CRVMKC+TimesNewRomanPS-BoldItalicMT Type 1C WinAnsi yes yes no 128 0 MCBCCI+SourceSansRoman-Regular Type 1C Custom yes yes no 145 0 MCBCCM+SourceSansRoman.613wght Type 1C 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