Design of PID controllers satisfying gain margin and sensitivity constraints on a set of plants

O. Yaniv, M. Nagurka

Research output: Contribution to journalArticlepeer-review

Abstract

A method for the design of PID-type controllers, including those augmented by a filter on the D element, satisfying a required gain margin and an upper bound on the (complementary) sensitivity for a finite set of plants was discussed. The important properties of the method include that it can be applied to plants of any order including non-minimum phase plants, plants with delay, plants characterized by quasi-polynomials, unstable plants. A single plot can be generated that graphically highlights tradeoffs among the gain margin, (complementary) sensitivity bound, low-frequency sensitivity and high-frequency sensor noise amplification by using this method.

Original languageEnglish
Pages (from-to)111-116
Number of pages6
JournalAutomatica
Volume40
Issue number1
DOIs
StatePublished - Jan 2004

Keywords

  • Gain and phase margin
  • PID control
  • Robustness
  • Sensitivity

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