Multi-Objective Digital PID Controller Design in Parameter Space

TL;DR

This paper introduces a multi-objective digital PID controller design method using parameter space analysis, incorporating stability and frequency domain constraints, demonstrated through an automated vehicle control example.

Contribution

It presents a novel parameter space approach for multi-objective digital PID controller design considering multiple stability and performance criteria.

Findings

Identified controller gain regions satisfying stability and frequency constraints.

Superimposed multiple objective regions to find a comprehensive solution.

Validated the method with a vehicle path following control example.

Abstract

This paper presents a multi-objective digital PID controller design method using the parameter space approach of robust control. Absolute stability is treated first by finding the digital PID controller gain parameter space corresponding to closed loop poles being inside the unit circle. Phase margin, gain margin and a mixed sensitivity bound are treated as frequency domain constraints. Determination of digital PID controller parameter space regions satisfying these constraints is presented. All of these regions are superimposed to obtain a multi-objective digital PID controller gain parameter space solution region. The path following controller design of an automated driving vehicle is used as an example to illustrate the method.