W. Tan, H.J. Marquez, and T. Chen
PID control, tuning, performance, robustness, structured singular value
Criteria based on disturbance rejection and system robustness are proposed to assess the performance of PID controllers. The robustness is measured by a two-block structured singular value, and the disturbance rejection is measured by the minimum singular value of the integral gain matrix. Examples show that the criteria can be applied to a variety of processes, whether they are stable, integrating, or unstable and single-loop or multi-loop.
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