A methodology for integrated system identification, PID controller tuning and noncausal feedforward control design

In this paper we propose a systematic methodology that integrates the three main phases of the design of an industrial control system, namely, the identification phase, the tuning of the (PID) controller and the design of a (noncausal) feedforward action. In particular, the tuning of the controller is based on frequency loop shaping where the modelling uncertainty is explicitly considered and the noncausal feedforward command input synthesis is performed by applying a stable input-output inversion procedure. In this context, a parameter that allows to handle the trade-off between aggressiveness and robustness (and control effort) is given to the user. Simulation and experimental results show the effectiveness of the methodology.