Enhanced 2-DOF PID Controller Tuning Based on an Uncertainty and Disturbance Estimator With Experimental Validation

In this paper a novel tuning procedure for Two-Degree-of-Freedom (2-DOF) PID controllers is proposed. The methodology based on an Uncertainty and Disturbance Estimator. As result, equivalent 2-DOF controller with simpler rules obtained. One advantage of the proposed method that tracking performance disturbance rejection can be accommodated separately in control synthesis. Moreover, trade-off between robustness easily adjusted by single parameter without affecting desired set-point specifications. Numerical comparisons well-known methods are performed to illustrate advantages method. Finally, effectiveness proposal experimentally validated open-loop unstable plant consisting test-bed quadrotor platform.