A modification of conventional control algorithms for improved performance

The basic PI and PID controller structures are augmented with a time dependent gain which exponentially decays as t->∞. Through the use of simulation it is shown that this modification is capable of improving system performance with little or no loss of stability characteristics. Several test cases are examined for both load and set point response and the results are compared to those obtained with the conventional algorithm. The modified controller algorithm are also evaluated with the regard to the incorporation of internal model control tuning.