A new robust PID controller design technique using bode-interpolation

The paper presents theoretical and practical aspects of a new practice-oriented approach to the design of robust PID controllers for real plants with black-box-type uncertainty and unknown mathematical model. The proposed approach is based on interpolation of the Bode plots of the uncertain controlled plant followed by a new robust practice-oriented robust PID controller design method in the frequency domain. Application of the proposed two-stage design procedure is illustrated on a real-world position servo-system with multiple control loops.