PID Gain Tuning for Robust Control of PMDC Motor with Tracking and Disturbance Rejection through H\(\infty\): A Recent Study

Abstract

Due to their great efficiency, simple mechanism, and low cost, permanent-magnet (PM) motors are used in a wide range of industrial control applications. In the majority of cases, either the plant model is incorrectly established or the plant characteristics are subject to change over time. In addition, most applications demand both good tracking and good disturbance rejection, which are two competing objectives. The controller must account for parameter fluctuations as well as ensure stable performance in the face of external disturbances, necessitating a robust control approach to controller design. To achieve the robustness requirements, a classical PID controller with no robustness requirements is supplemented with H optimization based gain tuning. The H\(\infty\) optimization approach is used to develop a PID controller in this research. PID controller does not inherently provide enough robustness to internal and external disturbances. Different performance goals for tracking and disturbance rejection are defined and PID gains are tuned to meet the goals in H_\(\infty\) sense. For modelling and simulation, a commercial Maxon RE35 motor is chosen.