Reduced MO tuning method for PID controllers

The disturbance rejection magnitude optimum (DRMO) tuning method for PID controllers provides relatively fast and non-oscillatory disturbance rejection responses. The advantage of the DRMO method is that it does not require any additional tuning parameters. However, this advantage can turn into a deficiency if more robust or faster response is required. It is shown that the additional design parameter can be obtained by reducing the number of conditions prescribed by DRMO method. This parameter can be chosen in order to achieve desired tradeoff between load disturbance rejection criteria, control activity (actuator wear) and stability. It is shown that the PID controller usually offers better disturbance rejection criteria and stability at the same control activity, when compared to the PI and I controllers.