A PID gain tuning using fictitious reference iterative tuning approach with simultaneous tuning for the delay parameter of the reference model

This paper considers a PID gain tuning using FRIT approach which overcomes the performance degradation due to improperly selected reference models. In the proposed method, the reference model which includes the pure input delay is considered, and the delay parameter of the reference model is also tuned simultaneously as well as the PID gains. According to the proposed method, we can avoid the performance degradation due to the selected reference model in the FRIT method. The effectiveness of the proposed method is shown through a numerical example.