TY - JOUR
T1 - Design of PID controllers satisfying gain margin and sensitivity constraints on a set of plants
AU - Yaniv, O.
AU - Nagurka, M.
N1 - Funding Information:
M. Nagurka is grateful for a Fulbright Scholarship for the 2001–2002 academic year allowing him to pursue this research at The Weizmann Institute of Science (Rehovot, Israel).
PY - 2004/1
Y1 - 2004/1
N2 - 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.
AB - 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.
KW - Gain and phase margin
KW - PID control
KW - Robustness
KW - Sensitivity
UR - http://www.scopus.com/inward/record.url?scp=0242523703&partnerID=8YFLogxK
U2 - 10.1016/j.automatica.2003.08.005
DO - 10.1016/j.automatica.2003.08.005
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AN - SCOPUS:0242523703
SN - 0005-1098
VL - 40
SP - 111
EP - 116
JO - Automatica
JF - Automatica
IS - 1
ER -