Enhanced 2-DOF PID Controller Tuning Based on an Uncertainty and Disturbance Estimator With Experimental Validation

Abstract

In this paper a novel tuning procedure for Two-Degree-of-Freedom (2-DOF) PID controllers is proposed. The tuning methodology is based on an Uncertainty and Disturbance Estimator. As a result, an equivalent 2-DOF PID controller with simpler tuning rules is obtained. One advantage of the proposed method is that tracking performance and disturbance rejection can be accommodated separately in control synthesis. Moreover, the trade-off between disturbance rejection and robustness can easily be adjusted by tuning a single parameter without affecting the desired set-point tracking specifications. Numerical comparisons with well-known tuning methods are performed to illustrate the advantages of the proposed method. Finally, the effectiveness of the proposal is experimentally validated in an open-loop unstable plant consisting of a test-bed quadrotor platform.

Performance Evaluation of a 2DOF_PID Controller Using Metaheuristic Optimization Algorithms

“…In order to overcome this limitation of traditional 1DOF_PID, a two-degree-of-freedom (2DOF_PID) controller has emerged where setpoint tracking and disturbance rejection can be achieved separately. This division increases the system's ability to deal with different challenges and provide an effective response to requirements [35][36][37].…”

Robust control scheme based on an uncertainty and disturbance estimator for a quadrotor with motor failures

“…Most works propose solutions for challenges related with the stability and trajectory tracking. Linear controllers (as the PID and the linear quadratic regulator) are the most widely used techniques in the industry and academia (Balaguer et al, 2021; Bouabdallah et al, 2004; Miranda‐Colorado & Aguilar, 2019; Outeiro et al, 2021). The main advantages of linear controllers are the simplicity to implement and tune, for achieving an acceptable performance in real time.…”

Simulation Model of PID Controller for DC Servo Motor at Variable and Constant Speed by Using MATLAB

“…The researcher presented in the paper [15] building a dynamic model of DC motor and using Matlab/Simulation as a sub-system of the motor, and then using PID and FLC as a logic controller to control the motor speed. For centuries, PID controllers have been used in industrial applications for their ease of application, high efficiency and robustness [16][17][18][19][20][21][22]. PID controllers have three basic control modes (kp, ki, kd), which are characterized by ease of implementation and good performance, enabling them to be widely used in industrial fields [23][24][25][26][27][28].…”