Scaling and Bandwidth-Parameterization Based Controller Tuning

TLDR

The authors present a new set of tools—controller scaling, controller parameterization, and practical optimization—to standardize controller tuning. The approach uses controller scaling to frequency‑scale controllers for plants differing mainly in gain and bandwidth, parameterizes controller parameters as a function of loop‑gain bandwidth to simplify tuning, and applies practical optimization to maximize bandwidth subject to physical constraints. Collectively, these tools streamline controller tuning by reducing manual effort and improving consistency across plant variations.

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