title: An analytical method for PID controller tuning with specified gain and phase margins for integral plus time delay processes.
abstract: In this paper, an analytical method is proposed for proportional-integral/proportional-derivative/proportional-integral-derivative (PI/PD/PID) controller tuning with specified gain and phase margins (GPMs) for integral plus time delay (IPTD) processes. Explicit formulas are also obtained for estimating the GPMs resulting from given PI/PD/PID controllers. The proposed method indicates a general form of the PID parameters and unifies a large number of existing rules as PI/PD/PID controller tuning with various GPM specifications. The GPMs realized by existing PID tuning rules are computed and documented as a reference for control engineers to tune the PID controllers.
authors.affiliation: School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore.
authors.forename: Wuhua
authors.initials: W
authors.lastname: Hu
authors.forename: Gaoxi
authors.initials: G
authors.lastname: Xiao
authors.forename: Xiumin
authors.initials: X
authors.lastname: Li
mesh_terms: D000465:Algorithms; D004738:Engineering; D004867:Equipment Design; D005246:Feedback; D007221:Industry