PID control design and H-infinity loop shaping

This paper shows that traditional methods for design of PID controllers can be related to robust H-infinity control. In particular, it shows how the s pecifications in terms of maximum sensitivity and maximum complementary sen sitivity are related to the weighted H-infinity norm introduced by Glover a nd McFarlane [5]. The paper also shows how to use the Vinnicombe metric to classify those classes of systems which can be stabilized by the presented design methods in Astrom rt al [3] and Panagopoulos et at [4]. Copyright (C ) 2000 John Wiley & Sons, Ltd.