Discrete robust PID×(n-2) stage PD cascade controller

This paper presents a design method for discrete-time parallel with continuous-time design for the two degree of freedom (2DOF) control system using PID (Proportional-Integral-Derivative)×(n-2) stage PD as a cascade controller for a class of n^th order plant. Both, transient and steady state response specifications are suddenly met when the forward controller is employed. The root loci of this method are shown that the closed loop system is robustly stable with excellence.