Optimal design of PID controller based on sensitivity constraint

An approach to designing optimal PID controllers based on sensitivity constraint was presented for general linear time-invariant system with known transfer function. The parameter bounds of PID controllers, which satisfied the specified sensitivity constraint, were obtained by solving a set of envelope equations directly. Then the optimal design of PID controller parameters was carried out within the bounds using genetic algorithm. The proposed method takes into consideration both robustness and performance. Simulation results demonstrate the effectiveness of the approach.