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Naim Bajcinca, Thomas Hulin
The Set of All Robust Stabilizing PID Controllers: Methods and Software (Part I)
Keywords: singular frequencies, PID controller, three-term controller, decoupling
Computation of Hurwitz-stability regions in the parameter space of PID controllers has been a topic of intensive research in the last decade. The main impetus is given by the fact that non-convex stability regions can be built up by convex polygonal slices with constant kP, which is a consequence of decoupling of PID parameter space at singular frequencies. Thereby the computation task splits into two problems: discrimination of kP-intervals with stable polygons, and automatic detection of stable polygons for a given kP. The method applies for continuous and discrete-time systems, including those with time-delay. It is especially well suited for the design of robust PID controllers for the systems with parametric uncertainties. While some problems still remain open, the theory at this stage is well completed. This is the starting one of a series of three papers, where the newest results, algorithms and a MATLAB® toolbox for fast computation of PID controller regions are presented.
at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag
Print ISSN: 0178-2312
Volume: 53, 11/2005
Pages: 556 - 564