A method for PID controller tuning using nonlinear control techniques

In this work, we propose a two-level, optimization-based method for deriving tuning guidelines for proportional-integral-derivative (PID) controllers that take explicitly into account the presence of nonlinear behavior. The central idea behind the proposed method is the selection of the PID controller tuning parameters so as to best "emulate" the control action and closed-loop response under a given nonlinear controller for a broad set of …