RobSin: a new tool for robust design of PID and three-term controllers based on singular frequencies

This paper introduces a new Matlab Toolbox called RobSin, which for a given plant (multi-) model provides a fast computation of the stabilizing region in the coordinates of PID parameters. The algorithms use the concept of singular frequencies for computation of convex polygonal slices on planes kp = const. In addition to time-continuous systems, the method described in this paper is especially convenient for the design of time-discrete PID and three-term controllers and time-delay systems.