[Back]

E. Csencsics, G. Schitter:
"Parametric PID Controller Tuning for a Fast Steering Mirror";
Talk: 1st IEEE Conference on Control Technology and Applications (CCTA2017), Kohala Coast (USA); 2017-08-27 - 2017-08-30; in: "Proceedings of the 1st IEEE Conference on Control Technology and Applications (CCTA", (2017), 6 pages.

Even though the design and tuning of
proportional-integral-derivative (PID) controllers appears
to be conceptually simple it can be difficult in practice,
especially when competing control objectives are present.
This paper presents a tuning method for PID controllers
applied to low stiffness mechatronic systems that allows a
direct and intuitive trade-off between the robustness and the
performance of the resulting system. With the required system
bandwidth typically determined by the targeted application
and an according parametrization, the controller tuning is
reduced to the selection of the cross-over frequency !
c and the variation of a single parameter α. It is demonstrated how
the α-value influences the resulting system properties, while
a larger α increases robustness but also diminishes control
quality. The tuning method is experimentally verified on a fast
steering mirror (FSM) system by implementing controllers
with α-values of 2, 3 and 4.5. It is shown that the settling time
for α = 2 is 4-times smaller than for α = 4.5, when applied
to the nominal plant. On the other hand the stability margins
for α = 2 are also significantly smaller, diminishing robustness
and increasing oscillating transients when plant uncertainties
are present. An α-value of 3 yields a good trade-off between
robustness and performance of the closed-loop operated
system.

https://publik.tuwien.ac.at/files/publik_261688.pdf