Simplified disturbance rejection tuning method for PID controllers

The magnitude optimum method provides a nonoscillatory closed-loop response for a large class of process models. However, by applying this technique to lower-order processes, deteriorated disturbance-rejection performance may be obtained. The performance can be improved by using "disturbance rejection magnitude optimum" (DRMO) optimisation method. In original DRMO tuning method, the PID controller parameters are calculated by means of optimisation, since analytical solution does not exist. This paper simplifies tuning procedure by appropriately fixing one of controller parameters, while remaining two are calculated analytically. The efficiency of the proposed approach was confirmed on several examples.