Scaling and bandwidth-parameterization based controller tuning

TLDR

The paper introduces a set of tools—controller scaling, parameterization, and practical optimization—to standardize controller tuning. The authors propose three mechanisms: frequency‑scaling of controllers to handle plants differing mainly in gain and bandwidth, parameterizing controller settings as a function of loop‑gain bandwidth to simplify tuning, and optimizing bandwidth within physical constraints to set performance limits. Together, these tools advance controller tuning toward a more scientific, standardized approach.

Abstract

A new set of tools, including controller scaling, controller parameterization and practical optimization, is presented to standardize controller tuning. Controller scaling is used to frequency-scale an existing controller for a large class of plants, eliminating the repetitive controller tuning process for plants that differ mainly in gain and bandwidth. Controller parameterization makes the controller parameters a function of a single variable, the loop-gain bandwidth, and greatly simplifies the tuning process. Practical optimization is defined by maximizing the bandwidth subject to the physical constraints, which determine the limiting factors in performance. Collectively, these new tools move controller tuning in the direction of science.