Guaranteed optimal tuning of PID robust controllers

In this paper an optimal tuning method for PID controller based on interval analysis is presented. This method also guarantees robust control of the plant under parametric uncertainties. Controller parameters are determined based on the plant model, to minimize the integral square error (ISE). Results have been obtained by means of interval algorithms to evaluate robust control parameters and to minimize the ISE, so that the global minima in the given range are guaranteed.