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This is a tool to design PID controllers for FOTD systems, with SSOD sampling, in order to avoid limit cycles, by imposing a robustness to oscillations measure, Mt, based on Tsypkin method, that takes into account higher order harmonics in the oscillations.
The tool uses a precomputed table of controllers for a set of FOTD systems, with different phase margins and derivative filter coefficient, N. If the model introduced is not FOTD, the application first obtains a FOTD approximation and then calculates the controller using the approximate model.
The tool allows to obtain the PID controller that minimizes disturbance IAE, while fulfilling two constraints:
- Mt > Mt,r, i.e., a desired robustness to oscillations measure.
- $C(\infty) < C(\infty)$,r , i.e., a maximum high frequency controller amplification, that defines the maximum changes in control action due to the send on delta sampling ($\Delta u_max=C(\infty)\delta$).
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