Automatic feedforward tuning for PID control loops

In this paper we propose a method for the automatic design of the feedforward compensator for PID control loop where the process is affected by a disturbance. The parameters of the compensator are automatically computed after the disturbance is rejected for the first time by a simple PID controller which can be roughly tuned. Further, a technique to assess the performance of the compensator is also proposed. Simulation results show the effectiveness of the methodology.