Industrial Automatic Control Systems and Controllers Annotation << Back Structural implementation and optimal tuning of a multi-parameter PIDD2 controller with real differentiation Smirnov N.I., Sabanin V.R., Repin A.I. The paper shows the opportunity for structural implementation and optimal tuning of a multi-parameter controller further called PIDD2 controller, where the first and the second derivatives of process variable deviation from setpoint are calculated subject to real differentiation. Comparative analysis of PID and PIDD2 controller settings both with real and with ideal differentiation is undertaken. Controller settings are calculated numerically using the authors’ version of Optim-MGA evolutionary optimization algorithm. The sensitivity of a regulatory control system with a PIDD2 controller to control object behavior changes is analyzed. The sensitivity was evaluated for 15% variation of initial plant dynamics towards both higher and lower sluggishness. A robust trade-off tuning procedure is offered for real PIDD2 controller ensuring the specified stability margin under predictable plant dynamic changes. Е-mail: RepinAI@mpei.ru