4.7: SOSIPD Model (repeated pole)

4.7 SOSIPD Model (repeated pole)

Table 137: PID controller tuning rules SOSIPD model (repeated pole)
Rule	K _c	T _i	T _d	Comment
	Minimum performance index: servo/regulator tuning
Minimum ITAE Pecharrom n and Pagola (2000). Model: Method 2 K _m=1; T _m=1; 0.1< ? _m<10; ?=1, N=10.	x ₁K _u	x ₂T _u	x ₃T _u
Coefficient values
x ₁	x ₂	x ₃	?
1.672	0.366	0.136	0.601	?164 ⁰
1.236	0.427	0.149	0.607	?160 ⁰
0.994	0.486	0.155	0.610	?155 ⁰
0.842	0.538	0.154	0.616	?150 ⁰
0.752	0.567	0.157	0.605	?145 ⁰
0.679	0.610	0.149	0.610	?140 ⁰
0.635	0.637	0.142	0.612	?135 ⁰
0.590	0.669	0.133	0.610	?130 ⁰
0.551	0.690	0.114	0.616	?125 ⁰
0.520	0.776	0.087	0.609	?120 ⁰
0.509	0.810	0.068	0.611	?118 ⁰
Taguchi and Araki (2000). Model: Method 1	^[1] K _c ⁽⁵⁶⁷⁾	T _i ⁽⁵⁶⁷⁾	T _d ⁽⁵⁶⁷⁾	?1.0; Overshoot (servo step) ?20%; N fixed but not specified
^[1]