DOI - Mendel University Press

DOI identifiers

DOI: 10.11118/ecos2026_022

CONTROL OF INTEGRATING SYSTEMS USING A TWO-DEGREE-OF-FREEDOM PID CONTROLLER

Jakub Meduna1, Radim Farana2
1 Department of Economics, Faculty of Business and Economics, Mendel University in Brno, Zemědělská 1, 613 00 Brno, Czech Republic
2 Department of Informatics, Faculty of Business and Economics, Mendel University in Brno, Zemědělská 1, 613 00 Brno, Czech Republic

This article deals with the comparison of a two-degree-of-freedom (2DOF) PID controller and the classical 1DOF PID controller for the control of integrating systems. The work responds to the structural limitation of the 1DOF controller, which cannot simultaneously optimize setpoint tracking and disturbance rejection. Three typical integrating plants (with transport delay, oscillatory, non-oscillatory) and four controller variants tuned by the SIMC method and the PID Tuner application were tested in the MATLAB Simulink environment. Control quality was assessed using the IAE and ITAE criteria. The serial 2DOF controller improved ITAE by 28 to 54% compared with the best 1DOF solution; the optimal tuning method, however, depends on the plant structure.

Keywords: integrating systems, 2DOF PID, SIMC, PID Tuner, IAE, ITAE

pages: 220-225, online: 2026



References

  1. ASTRÖM, K. J., HÄGGLUND, T. 1995. PID Controllers: Theory, Design, and Tuning. 2nd ed. Research Triangle Park, NC: Instrument Society of America. ISBN 1-55617-516-7
  2. MATHWORKS. 2024. PID Controller Tuner App. https://www.mathworks.com/help/control/getstart/tune-pid-controller-to-balance-tracking-and-disturbance-rejection.html
  3. MEDUNA, J. 2026. Control of integrating systems using a two-degree-of-freedom PID controller [in Czech]. Master's thesis, head: Farana, R. Brno: Mendel University in Brno.
  4. O'DWYER, A. 2009. Handbook of PI and PID Controller Tuning Rules. 3rd ed. London: Imperial College Press. ISBN 978-1-84816-242-6 Go to original source...
  5. SLADKÁ, K. 2020. Tuning of Digital and Analog Two-Degree-of-Freedom Controllers [in Czech]. PhD Dissertation. Ostrava: V©B - Technical University of Ostrava, Faculty of Mechanical Engineering.
  6. ©ULC, B., VÍTEČKOVÁ, M. 2004. Theory and Practice of Control Loop Design [in Czech]. Prague: Czech Technical University Publishing House. ISBN 80-01-03007-5
  7. VÍTEČEK, A., VÍTEČKOVÁ, M. 2011. Selected Methods of Controller Tuning [in Czech]. Ostrava: V©B - Technical University of Ostrava. ISBN 978-80-248-2503-8
  8. WANG, L. 2020. PID Control System Design and Automatic Tuning using MATLAB/Simulink. London: John Wiley & Sons. ISBN 978-1-119-46934-6 Go to original source...
Return