A COMPARISON OF 2 DESIGN METHODS FOR PID CONTROLLERS

Analytical formulae for designing PID controllers to give specified ga in and phase margins have been proposed recently in the literature. Th is approach is attractive as the gain margin and phase margin serve as important measures of not only performance but also robustness. Anoth er popular approach with similar emphasis is the internal model contro l method. In this paper, a comparison study of these two approaches fo r designing a PI and a PID controller is made. The comparison shows th e differences and the similarities of the two approaches. Recommendati ons on when and which method to apply are also given.