An augmented PID control scheme for robust control

This paper considers an augmentation of PID controller. The typical design approach for feedback control is to consider the nominal plant model and implement a PID controller. Yet the model mismatch is a significant issue that requires further tuning of PID parameters. This paper augments the PID controller with a fourth term to alleviate the difficulties caused by plant model mismatch. Using the proposed approach, practitioners follow the standard procedure for nominal plant and augment the control input with the proposed term with the real system. The tracking performances are discussed comparatively and results are found promising.