Performance and robustness trade-offs in PID control

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Control design is a rich problem which requires consideration of many issues such as load disturbance attenuation, set-point tracking, robustness with respect to process variations and model uncertainty, and effects of measurement noise. The purpose of this paper is to provide insight into the trade-offs between performance and robustness explicitly. This is accomplished by introducing plots that show the trade-offs for PI and PID control. These also provide valuable understanding of design compromises used for common PI design methods.
Original languageEnglish
Pages (from-to)568-577
JournalJournal of Process Control
Issue number5
Publication statusPublished - 2014

Subject classification (UKÄ)

  • Control Engineering


  • PID control
  • Optimization
  • Robustness
  • Tuning
  • Disturbance attenuation


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