Auto tuning on robust parameters of a PID controller for a 2nd-order adjusted system with one changeable parameter

The present paper introduces optimal and robust auto tuning on parameters of a PID controller with 2nd-order internal system adjusted by the partial model matching method for 1^st- and 2^nd-order original controlled objects. The proposed tuning has a wide servo band range in the frequency domain. The Hurwitz stability criterion was used to obtain the simple robust stability conditions (SRS) for given parameters and one changeable parameter. In addition, a sequential ISE search method for grid points was used for the auto tuner. Moreover, two versions of a new interpolation method from a 3*3 small grid to a 5*5 grid are proposed.