Analytical Design of PID Controllers

Description

This monograph presents a new analytical approach to the design of proportional-integral-derivative (PID) controllers for linear time-invariant plants. The authors develop a computer-aided procedure, to synthesize PID controllers that satisfy multiple design specifications. A geometric approach, which can be used to determine such designs methodically using 2- and 3-D computer graphics is the result. The text expands on the computation of the complete stabilizing set previously developed by the authors and presented here. This set is then systematically exploited to achieve multiple design specifications simultaneously. These specifications include classical gain and phase margins, time-delay tolerance, settling time and H-infinity norm bounds. The results are developed for continuous- and discrete-time systems. An extension to multivariable systems is also included. Analytical Design of PID Controllers provides a novel method of designing PID controllers, which makes it ideal for both researchers and professionals working in traditional industries as well as those connected with unmanned aerial vehicles, driverless cars and autonomous robots. Front Matter ....Pages i-xii Introduction to Control (Iván D. Díaz-Rodríguez, Sangjin Han, Shankar P. Bhattacharyya)....Pages 1-34 Front Matter ....Pages 35-35 Stabilizing Sets for Linear Time-Invariant Continuous-Time Plants (Iván D. Díaz-Rodríguez, Sangjin Han, Shankar P. Bhattacharyya)....Pages 37-78 Stabilizing Sets for Ziegler–Nichols Plants (Iván D. Díaz-Rodríguez, Sangjin Han, Shankar P. Bhattacharyya)....Pages 79-95 Stabilizing Sets for Linear Time-Invariant Discrete-Time Plants (Iván D. Díaz-Rodríguez, Sangjin Han, Shankar P. Bhattacharyya)....Pages 97-122 Computation of Stabilizing Sets from Frequency Response Data (Iván D. Díaz-Rodríguez, Sangjin Han, Shankar P. Bhattacharyya)....Pages 123-151 Front Matter ....Pages 153-153 Gain and Phase Margin-Based Design for Continuous-Time Plants (Iván D. Díaz-Rodríguez, Sangjin Han, Shankar P. Bhattacharyya)....Pages 155-200 Gain–Phase Margin-Based Design of Discrete-Time Controllers (Iván D. Díaz-Rodríguez, Sangjin Han, Shankar P. Bhattacharyya)....Pages 201-215 PID Control of Multivariable Systems (Iván D. Díaz-Rodríguez, Sangjin Han, Shankar P. Bhattacharyya)....Pages 217-231 Front Matter ....Pages 233-233 \(H_\infty \) Optimal Synthesis for Continuous-Time Systems (Iván D. Díaz-Rodríguez, Sangjin Han, Shankar P. Bhattacharyya)....Pages 235-249 \(H_\infty \) Optimal Synthesis for Discrete-Time Systems (Iván D. Díaz-Rodríguez, Sangjin Han, Shankar P. Bhattacharyya)....Pages 251-260 Back Matter ....Pages 261-302