Analytical Design of PID Controllers [Bookshelf]

This book is focused exclusively on the PID controller. It is timely and contributes substantially to the art and science of control system engineering. The book proposes a multiobjective approach to design, allowing the designer to creatively blend various performance measures using classical and modern approaches. It is organized into three parts. Part I lays the foundation for the rest of the book. It describes methods for the computation of the complete set of PID controllers stabilizing a given SISO linear time-invariant plant. Using the stabilizing set, Part II proceeds to search for achievable performance for the closed-loop system under PID control. Finally, Part III adresses H3 optimization-based design of PID controllers for both continuous and discrete-time systems is considered. The book presents several novel and effective approaches for the synthesis and design of PID controllers. It addresses and solves classical gain and phase margin-based designs, modern H3 norm-based designs, and new approaches to multivariable control based on SISO methods. Both continuous-time and discrete-time systems are treated by the same methods. The methodology developed is based on research conducted at Texas A&M University over the last 20 years. It is expected that these approaches will find applications to control system design in both traditional areas as well as in new areas such as driverless cars and autonomous robots. Overall, the techniques covered in this book form a substantial contribution to the field of control, and this book is recommended for students and practitioners of control theory.