Simultaneous design of proportional–integral–derivative controller and measurement filter by optimisation

A method for optimization of PID controller parameters and measurement filter time constant is presented. The method differs from the traditional approach in that the controller and filter parameters are simultaneously optimized, as opposed to standard, sequential, design. Control performance is maximized through minimization of the integrated absolute error (IAE) caused by a unit step load disturbance. Robustness is achieved through Hinf constraints on sensitivity and complementary sensitivity. At the same time, noise attenuation is enforced by limiting either the H2 or Hinf norm of the transfer function from measurement noise to control signal. The use of exact gradients makes the synthesis method faster and more numerically robust than previously proposed alternatives