The direct Nyquist array design of PID controllers
Weng Khuen Ho; Tong Heng Lee; Wen Xu; Zhou, J.R.; Ee Beng Tay
Industrial Electronics, IEEE Transactions on
Volume 47, Issue 1, Feb 2000 Page(s):175 - 185
Digital Object Identifier   10.1109/41.824140
Summary:The gain and phase margins design for single-input single-output proportional-integral-derivative controllers is extended to the multivariable system's Nyquist array. The design method allows the user to specify the robustness and performance of the system through gain and phase margin specifications. The unformatted design procedure given in this paper is well suited for implementing self-tuning PID control for multivariable processes. A laboratory implementation is given in the paper to demonstrate the design method

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