Geometric-based PID Control Design with Guaranteed Disk Margin

doi:10.1007/s40313-025-01227-9

Geometric-based PID Control Design with Guaranteed Disk Margin

2025-12-01

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Rafael F. Q. Magossi *

DOI：10.1007/s40313-025-01227-9

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Abstract

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The PID controllers are widely used in industry and the phase and gain margins can be used to assess the controller robustness and performance. However, the classical phase and gain margin requirements may not be sufficient since they are guaranteed separately. Instead, the disk margin simultaneously accounts for the gain and phase variations and provides a stronger guarantee of robustness. In this work, we propose a geometric-based design considering the stabilizing set in the parameter space and a guaranteed disk margin. A numerical example is provided to validate the proposed tuning method.

Keywords:

Fixed-order controller

PID stabilizing set

Sensitivity function

Phase margin

Gain margin

Geometric-based PID Control Design with Guaranteed Disk Margin

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