Unfalsified control approach to parameter space design of PID controllers

In this paper, we propose a data-driven design method of PID controllers based on unfalsified control. A necessary condition for the PID gains to satisfy a mixed sensitivity control problem is derived and the falsified region of the PID gains is drawn on the parameter plane. This method does not require constructing a mathematical model but requires the input-output responses of the plant of a feedback system excited by sinusoidal reference inputs for many frequencies. Usefulness is demonstrated by applying this method to a nonlinear plant with backlash.