An analytical method for PID controller tuning with specified gain and phase margins for integral plus time delay
Wuhua Hu1, Gaoxi Xiao, Xiumin Li
1School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore.
Abstract:
In this paper, an analytical method is proposed for proportional-integral/proportional-derivative/proportional-integral-derivative (PI/PD/PID) controller tuning with specified gain and phase margins (GPMs) for integral plus time delay (IPTD) processes. Explicit formulas are also obtained for estimating the GPMs resulting from given PI/PD/PID controllers. The proposed method indicates a general form of the PID parameters and unifies a large number of existing rules as PI/PD/PID controller tuning with various GPM specifications. The GPMs realized by existing PID tuning rules are computed and documented as a reference for control engineers to tune the PID controllers.
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