PI-Zustandsregler-eine methodische Neubetrachtung

This article discusses the options for constant reference feedforward in order to extend an existing state controller for general, i.e, even non-strictly proper both time-continuous and time-discrete LTI-SISO systems by an integral component to a so-called PI state controller. The focus of this work lies in a system-analytical interpretation of the characteristic cases. As a result of the constructive approach, methods can be presented as to how an existing state controller can be extended by one integral part without a complete redesign. This basically allows a resource-saving online reparameterization or connection and disconnection of the integral action. Of particular interest is the possibility to even achieve the invariance of the overall control behavior of the original state controller by dedicated selection of the prefilter constant. This is enforced by systematically splitting off an unreachable subsystem. Furthermore, the direct equivalence to a reduced disturbance observer is shown. Another parameterization allows to follow ramp-shaped reference signals asymptotically exact or suppress such output disturbances. The demonstration of the main methods presented on a simulation model with integrating behavior closes this contribution.