PID Controller Design Based on ASPR-ness by Using Partial Model Matching on Frequency Domain

In this paper, a practical design method of stable PID controller based on almost strictly positive real (ASPR)-ness is proposed. Both of the controller and a parallel feedforward compensator (PFC), which is introduced to guarantee ASPR-ness of a controlled plant, are designed by using partial model matching on frequency domain technique. The design method utilizes only finite number of frequency response data so that there is no need to identify the whole transfer function of the controlled plant