Weighted Sensitivity Design of PID Controllers for Arbitrary-Order Transfer Functions with Time Delay

T. Emami and J. Watkins (USA)


Robust control, feedback control, PID, and time delay.


A graphical technique for finding all proportional integral derivative (PID) controllers that stabilize a given single input-single-output (SISO) linear time-invariant (LTI) system of any order system with time delay has been solved. In this paper a method is introduced that finds all PID controllers that also satisfy an H∞ weighted sensitivity constraint. This problem can be solved by finding all PID controllers that simultaneously stabilize the closed-loop characteristic polynomial and satisfy constraints defined by a set of related complex polynomials. A key advantage of this procedure is the fact that it does not require the plant transfer function, only its frequency response.

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