Electrical Engineering Department, Indian Institute of Technology, Patna 800013, Bihar, India.
ISA Trans. 2010 Jan;49(1):70-8. doi: 10.1016/j.isatra.2009.09.001. Epub 2009 Sep 25.
Minimizing the integral squared error (ISE) criterion to get the optimal controller parameters results in a PD controller for integrating processes. The PD controller gives good servo response but fails to reject the load disturbances. In this paper, it is shown that satisfactory closed loop performances for a class of integrating processes are obtained if the ISE criterion is minimized with the constraint that the slope of the Nyquist curve has a specified value at the gain crossover frequency. Guidelines are provided for selecting the gain crossover frequency and the slope of the Nyquist curve. The proposed method is compared with some of the existing methods to control integrating plant transfer functions and in the examples taken it always gave better results for the load disturbance rejection whilst maintaining satisfactory setpoint response. For ease of use, analytical expressions correlating the controller parameters to plant model parameters are also given.
最小化积分平方误差（ISE）准则以获得最佳控制器参数，对于积分过程会得到一个 PD 控制器。PD 控制器提供了良好的伺服响应，但无法抑制负载干扰。本文表明，如果最小化 ISE 准则的同时约束奈奎斯特曲线的斜率在增益交叉频率处具有指定值，则可以为一类积分过程获得令人满意的闭环性能。提供了用于选择增益交叉频率和奈奎斯特曲线斜率的准则。将提出的方法与一些现有的控制积分 plant 传递函数的方法进行了比较，在给出的示例中，它在保持满意的设定点响应的同时，始终能够更好地抑制负载干扰。为了便于使用，还给出了将控制器参数与 plant 模型参数相关联的解析表达式。
