TY - JOUR N2 - Tuning rules for PID and PI-PI servo controllers are developed using a pole placement approach with a multiple pole, i.e. a triple one in the case of PID and a quadruple for PI-PI. The controllers involve complex roots in the numerators of the transfer functions. This is not possible in the classical P-PI structure which admits real roots only. The settling time of the servos determined by the multiple time constant is the only design parameter. Nomograms to read out discrete controller settings in terms of the time constant and control cycle are given. As compared to the classical structures, the upper limit on the control cycle is now twice longer in the case of PID, and four times in the case of PI-PI. This implies that the settling times can be shortened by the same ratios. Responses of a PLC-controlled servo confirm the validity of the design. L1 - http://www.czasopisma.pan.pl/Content/121938/PDF-MASTER/2369_corr.pdf L2 - http://www.czasopisma.pan.pl/Content/121938 PY - 2022 IS - 1 EP - e139957 DO - 10.24425/bpasts.2021.139957 KW - servomechanism KW - double integrator KW - pole placement KW - PID controller KW - discrete-time control A1 - Bożek, Andrzej A1 - Trybus, Leszek VL - 70 DA - 25.02.2022 T1 - Tuning PID and PI-PI servo controllers by multiple pole placement SP - e139957 UR - http://www.czasopisma.pan.pl/dlibra/publication/edition/121938 T2 - Bulletin of the Polish Academy of Sciences Technical Sciences ER -