Structure-specific analytical PID tuning for load disturbance rejection

This paper addresses the important and well studied problem of synthesising PID controllers for load disturbance rejection. The tuning rationale, on which some general words are spent in connection to literature research, is to shape the disturbance-to-output frequency response, together with conveniently assigning the poles of the corresponding transfer function. Analytical tuning formulæ are derived, to maximise simplicity and make the presented method applicable on any device. Simulation results support the proposal.