Resumen:
The design of the closed-loop control system must take into account the system performance to load-disturbance and set-point changes and its robustness to variation of the controlled process characteristics, preserving the well-known trade-off among all these variables. This work faces with the combined servo/regulation performance and robustness problem, in order to get an intermediate solution between the robustness increase and the consequent loss in the optimality degree of the performance. The proposed balanced Proportional-Integrative-Derivative (PID) control design is tested against other tuning methods.
