Methodology for tuning a multirate PID controller based on heuristic optimization

This paper presents a methodology for tuning PID controllers on multirate scenarios based on simulated annealing. The goal is to derive parameters for a discrete multirate PID controller that minimize a performance index in a SISO control system where the error and control sampling rates involved are different. The general tuning method (GTM) proposed consists of two steps. First of all classical PID tuning techniques based on the knowledge of the process model, are applied in order to obtain a starting point. If using these parameters requirements on performance are not satisfied, a search with simulated annealing method is carried out.