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An Approach for Setting Parameters for Two-Degree-of-Freedom PID Controllers

School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China
State Key Lab of Power Systems, Department of Thermal Engineering, Tsinghua University, Beijing 100084, China
Key Lab of Energy Thermal Conversion and Control of Ministry of Education, Southeast University, Nanjing 210096, China
Author to whom correspondence should be addressed.
Algorithms 2018, 11(4), 48;
Received: 19 March 2018 / Revised: 5 April 2018 / Accepted: 6 April 2018 / Published: 13 April 2018
(This article belongs to the Special Issue Algorithms for PID Controller)
PDF [8876 KB, uploaded 3 May 2018]


In this paper, a new tuning method is proposed, based on the desired dynamics equation (DDE) and the generalized frequency method (GFM), for a two-degree-of-freedom proportional-integral-derivative (PID) controller. The DDE method builds a quantitative relationship between the performance and the two-degree-of-freedom PID controller parameters and guarantees the desired dynamic, but it cannot guarantee the stability margin. So, we have developed the proposed tuning method, which guarantees not only the desired dynamic but also the stability margin. Based on the DDE and the GFM, several simple formulas are deduced to calculate directly the controller parameters. In addition, it performs almost no overshooting setpoint response. Compared with Panagopoulos’ method, the proposed methodology is proven to be effective. View Full-Text
Keywords: two-degree-of-freedom PID; the desired dynamics equation; the generalized frequency method; stability margin two-degree-of-freedom PID; the desired dynamics equation; the generalized frequency method; stability margin

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Wang, X.; Yan, X.; Li, D.; Sun, L. An Approach for Setting Parameters for Two-Degree-of-Freedom PID Controllers. Algorithms 2018, 11, 48.

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