Direct and exact methods for the synthesis of discrete-time proportional-integral-derivative controllers
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This paper is a postprint of a paper submitted to and accepted for publication in IET Control Theory and Applications and is subject to Institution of Engineering and Technology Copyright. The copy of record is available at IET Digital Library
This study presents a new set of formulae for the design of discrete proportional-integral-derivative (PID) controllers under requirements on steady-state performance and robustness specifications, such as phase and the gain margins, as well as the gain crossover frequency. The proposed technique has the advantage of avoiding trial-and-error procedures or approximations connected to an a posteriori discretisation. This method can also be implemented as a graphical design procedure in the Nyquist plane. The plot of suitable regions can be used to check a priori if the problem leads to feasible values of the PID parameters.
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