Multi-Objective Digital PID Controller Design in Parameter Space and its Application to Automated Path Following

This paper presents a multi-objective digital PID controller design method using the parameter space approach of robust control. Absolute stability is treated first by finding the digital PID controller gain parameter space corresponding to closed loop poles being inside the unit circle. Additionally, phase margin, gain margin and a mixed sensitivity bound are treated as frequency domain constraints. Determination of digital PID controller parameter space regions satisfying these constraints is presented. All of these regions are superimposed to obtain a multi-objective digital PID controller gain parameter space solution region. The path following controller design of an automated driving vehicle is used as an example to illustrate the method. This multi-objective parameter space design approach can be extended to other digital controller forms also.