PID Controller Design with Discrete-Time Reference Model based on Kitamori's Partial Model Matching Method.

This study proposes a discrete-time reference model based on Kitamori’s partial model matching method and a PID controller design method with it. In the previous study, the number of parameters of the second-order reference model was increased from 2 to 8 by discretization. In the proposed discretetime reference model, the increase in parameters can be limited to the sampling period only by discretization using the matched pole-zero model. Moreover, simulations were carried out using the controllers derived from the proposed and previous study’s methods to verify the effectiveness of the proposed method. As a result, while the controller designed using the previous study’s method showed that the step response diverged when the sampling period became larger than 0.1, the controller designed using the proposed method showed that the step response was stable even when the sampling period was increased up to 1.0.