Design of Nichols PID Controller for Hydro Turbine Speed Governor

According to the relation between the maximum peak resonance of closed-loop system and its maximum peak overshoot,an optimization problem related to both system parameters and governor parameters is proposed and the mathematical expression of the relation between system parameters and governor parameters is achieved by solving the proposed problem,and a Nichols proportional-integral-derivative(PID) governor is designed for linear hydro turbine model.Simulation results of disturbances due to power system load variation and parameter perturbation of the proposed governor show that the designed PID governor possesses good robustness for system parameter perturbation and external bounded disturbance signals,and the performance of its performance indices of transient process are evidently better than those of traditional PID governors.