PID self-tuning control combining pole-placement and parameter optimization features

Proportional plus integral plus derivative (PID) control is a well established technique for industrial control and possesses a high flexibility for use in many applications. However the tuning procedure is in many situations nontrivial, which implies that it is difficult to find the values of the parameters that guarrantee a desired closed-loop performance. The purpose of this paper is to present a PID-tuning technique which is based on a combination of two popular methods; namely the pole placement and the parameter optimization methods. The resulting PID self-tuning controller was applied to several simulated examples. This study showed that the controller has an improved performance over the simple pole placement or the simple parameter optimization self-tuning PID controller.