Tuning PID controllers with integral performance criteria

Gives some new results on integral performance criteria and describes how these have been incorporated within a menu driven software package in MATLAB. A disadvantage of the integral squared error (ISE) criterion is the fact that its minimization often results in a relatively oscillatory step response since the large errors which must occur for small time contribute significantly to the performance index. The paper also examines the time weighted squared error criterion and shows how analytical results can be obtained for the performance integral. New theoretical results are given for a simple plant with time delay and they are used to check the numerical computations which are achieved using a Pade approximation. A menu driven software package is developed to implement the computation algorithms using the integral performance criteria