Design and optimization of robust PID controller via stability methods for a class of uncertainty systems

In this paper by combining conditions and theorems about stability, a controller is obtained which is robust toward the uncertainty description which is presented as well as keeping the good qualities of a controller with limited maximum sensitivity. For optimization of problem a numerical optimization procedure will be proposed which can give the desired result. Besides, the problem of finding good starting values for optimization is related to determining if the problem has any feasible solution, so, it is enough which only the process and the parameters characterizing the uncertainties would need to be specified. After designing an anti-lock braking system (ABS) has been selected as a candidate for applying our method. Simulation results show that the method can cope with uncertainty.