In this paper, a novel robust PID controller design technique is proposed for the parametric uncertain systems via the dominant pole assignment approach. In the closed-loop, it is aimed that two poles are placed in the desired (dominant) region, and it is guaranteed that the remaining (unassigned) poles are located far away from the dominant pole region under all possible perturbations. The robust PID controller design technique is firstly given for the interval type characteristic polynomials with the help of vertex results. After that, the proposed method is generalized to cover the affine-linear type characteristic polynomials. The method is based on the well-known robust stability theorems and the generalized Nyquist theorem. The success of the proposed design technique is demonstrated on the control systems through simulation studies for both the interval and affine-linear cases and compared with the other robust PID controllers from the literature. It is shown that the proposed robust PID controllers guarantee the desired pole configuration in the closed-loop, and the closed-loop performance specifications are satisfied even in the worst case.

中文翻译：

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具有参数不确定性的系统通过主导极点分配的鲁棒 PID 控制器设计

在本文中，通过主导极点分配方法为参数不确定系统提出了一种新的鲁棒PID控制器设计技术。在闭环中，旨在将两个极点放置在所需的（主导）区域中，并保证在所有可能的扰动下剩余的（未分配的）极点远离主导极点区域。借助顶点结果，首先给出了区间型特征多项式的鲁棒PID控制器设计技术。之后，将所提出的方法推广到覆盖仿射线性型特征多项式。该方法基于众所周知的鲁棒稳定性定理和广义 Nyquist 定理。通过对区间和仿射线性情况的仿真研究，并与文献中的其他鲁棒 PID 控制器进行比较，在控制系统上证明了所提出的设计技术的成功。结果表明，所提出的鲁棒 PID 控制器保证了闭环中所需的极点配置，即使在最坏的情况下也能满足闭环性能规范。