Design of PID controllers based on constrained optimisation

This paper presents a new design method for PID controllersbased on optimization of load disturbance rejection with constraintson robustness to model uncertainties. The design also deliversparameters to deal with measurement noise and set point response. Thus, theformulation of the design problem captures four essential aspects ofindustrial control problems, leading to a constrained optimizationproblem which can be solved iteratively