Modular PID-controller design with different filtering properties

The paper presents second part of two contributions dealing with simplified modular design of filtered PD and disturbance observer (DO) based filtered PID control (DO-FPID) illustrated by example of positional servo control. This second part is devoted to the analysis of DO-FPID controller tuned for different types of nonmodelled or filter dynamics. By employing nth-order filters, openness of the new approach allows to keep nearly fixed dynamics of the transients and to change noise attenuation without necessity to repeat in the nominal case analysis of the optimal and critical tuning. Thereby, the number of tuning parameters remains minimal. Achieved performance is evaluated by newly introduced measures for deviations from monotonic, one- and two-pulse shapes of transients typical for control of plants with the dominant 2nd order dynamics.