An auto-tuning PD controller for DC servo position control system

DC servo position control applications are widely found in various industrial automation processes. Such processes are represented by First Order Integrating Plus Delay (FOIPD) model. Here, we propose an on-line auto-tuning scheme for PD controller to achieve improved response for FOIPD processes under both transient and steady state conditions. The proposed Auto-tuning PD controller (APD) provides almost no overshoot and oscillation in the set point response and also very good load regulation. Improved performance of the proposed controller (APD) is demonstrated through simulation as well as experimental study in comparison with a number of existing PD tuning rules, reported in the literature, for FOIPD processes.