Optimal PID control in discrete time using a sensitivity function

The present paper discusses the design of a discrete-time proportional-integral-derivative (PID) control system for a first-order plus dead-time model. The optimal parameters for the desired robustness of the PID control system are determined by using the maximum value of the sensitivity function. We optimized the load-disturbance or the set-point performance in order to achieve the specified robustness. Finally, the effectiveness of the proposed design method is demonstrated through a numerical simulation.