Performance robustness comparison of two PID tuning methods

The PID controller is simple, reliable and easy tuning in various industry fields. The classical gain and phase margin tuning method (GPM) has visual frequency domain indices and better robust than other PID tuning methods. The desired dynamic equation method (DDE) is proposed for unknown models. This two-degree-of-freedom (2-DOF) controller designing can meet desired setting time, and has physical meaning parameter. Fair comparisons of the two controllers (i.e., GPM and DDE) via the simulation tests on four classical models illustrate that the DDE method has better performance robustness while does not depend on models, and the tuning method is simple. The Monte-Carlo method also has been used to test the time and frequency domain performance robustness.