A Tuning Algorithm for LQ-PID Controllers using the Combined Time and Frequency-Domain Control Method

Abstract

This paper proposes a new method for tuning a linear quadratic 7 proportional integral derivative controller for second order systems to simultaneously meet the time and frequency domain design specifications. The suitable loop-shape of the controlled system and the desired step response are considered as specifications in the time and frequency domains, respectively. The weighting factors, Q and R of the LQ controller are determined by the algebraic Riccati equation with respect to the limiting behavior and target function matching. Numerical examples show the effectiveness of the proposed LQ-PID tuning method.