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Synthesis of the PI controller parameters is carried out by using Bode plots of the frequency characteristics and approximate relations between phase margin and given response overshoot, with maximum time constant compensation (technical optimum – TO) and symmetric frequency characteristics (symmetric optimum – SO). Synthesis according to symmetric optimum is carried out for higher overshoot (40%) and additional PT1 filter at the system input to achieve given response overshoot (10%). The most favorable disturbance rejection in the system is achieved by PI controller synthesis based on symmetric frequency characteristics for given response overshoot (10%) and increasing the gain coefficient to achieve larger response overshoot (40%). Thereby, the given response overshoot is achieved by adding a PDT1 filter at the system input. This procedure results in faster response on the change of reference signal and smaller influence of the disturbance on the controlled signal than standard procedures of controller synthesis. In this paper the responses on the changes of reference and disturbance signals obtained by computer simulation are given for different controller synthesis procedures based on the technical and symmetric optimum.
optimal PI controller design; bode plots
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