||A tracking quality of CDM and PID control in systems with SMPO
(stable, minimum-phase, oscillatory) plant are presented and compared in this paper.
Constraints of control signal amplitude and step type of disturbance were considered
in simulation tests, where for the synthesis of PID controller Matlab 7.0/Simulink
Response Optimization libraries were used. The synthesis of robust control system was
conducted with the use of coefficient diagram method (CDM) algorithm. These two
methods were compared on a benchmark of trajectory tracking. Comments of the results
obtained for these methods are given. In all of simulation tests, a higher quality
of tracking was obtained in CDM system.