Simple, robust, selftuning controller》.pdfVIP

il NORTH- HOLLAND Simple, Robust, Selftuning Controller S. Koz£k and J. Hejdig Department of Automatic Control Systems Faculty of Electrical Engineering Slovak Technical University 812 19 Bratislava, Ilkovicova 3, Slovakia Transmitted by F. E. Udwadia ABSTRACT This paper proposes a robust method for automatic tuning of parameters of a discrete PID controller. The tuning rules for SISO and MIMO systems are based on automatic determination of critical gain and critical frequency from the estimated model para