A magnitude optimum multiple integration tuning method for filtered PID controller

The magnitude optimum (MO) technique provides a non-oscillatory closed-loop response for a large class of process models. The idea of the method is to find a controller that makes the frequency response from set-point to plan t output as close as possible to unity for low frequencies. Recently. the b asic frequency domain method, has been improved, using multiple integration of the process time response for calculating the parameters of the PID con troller. In the present paper the method is extended to PID controllers wit h filtered derivative term. (C) 2001 Elsevier Science Ltd. All rights reser ved.