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An Improved Analytical PID Controller Design for Non-Monotonic Phase LTI Systems

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2 Author(s)
de Paula, C.F. ; Syst. Eng. & Inf. Technol. Inst., Fed. Univ. of Itajuba, Itajuba, Brazil ; Ferreira, L.H.C.

An improved technique of analytical design of proportional-integral-derivative (PID) controllers in frequency-domain for non-monotonically decreasing phase systems by means of gain crossover frequency and phase margin specifications is presented in this brief. The proposed method guarantees a minimum phase margin inside the desired bandwidth, assuring better performance to step response for the closed-loop system. In order to achieve this feature, it is necessary to redefine the concept of phase margin when the uncontrolled process presents a non-monotonically decreasing phase inside the bandwidth. Hence, the phase margin can still be used as a good robustness indicator and allows the Bode stability criterion to be used for monotonic minimum-phase or non-monotonic minimum-phase systems.

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Control Systems Technology, IEEE Transactions on  (Volume:20 ,  Issue: 5 )