摘要：AbstractThe aims of this paper are: (a) to extend the discrete time 2DOF PI and PID controller for the integral plus dead time (IPDT) models to the 2DOF PIDmnmn control with an mth order derivative action (m= 0,1, 2) tuned by the multiple real dominant pole method, (b) to introduce simple integrated tuning procedures of all the considered controllers augmented with then≥mth order series binomial filters required for the derivative action implementation and measurement noise attenuation and (c) to compare the filtered controllers as for the performance limits expressed in terms of the integral of absolute error (IAE) and the relative total variance.
关键词：Keywords2DOF discrete time PID controlfiltrationderivative action
