Prof. Liuping Wang, RMIT University
Integral Control via Disturbance Estimation
Disturbance observer based PID controllers provide a new design framework with a natural anti-windup mechanism. This approach generates the integral control function through a disturbance estimation, which effectively leads to the decoupling of integral control design from the design of PD controllers. This presentation examines the robustness of this class of PID controllers in the presence of model uncertainties. It illustrates that tuning the convergence speed of the disturbance estimator is an effective approach to achieve robustness of the PID control system. Putting some classical tuning rules into this design framework allows us to re-select the integral control function, which enhances their robustness performances.