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Low-order digital controller design based on parametric stability margin
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DOI：10.1016/j.isatra.2025.08.038.png)
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Abstract
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• A novel design strategy for PID controllers based on the parameter stabilizing set is proposed. The parameters determined by this method achieve the maximum parametric stability margin. • A method for determining the stabilizing set of PID parameters for the second-order discrete systems is explicitly developed. • Geometric methods, particularly coordinate rotation and inverse rotation, are introduced to effectively compute PID parameters. • Simulations and physical experiments are conducted to compare the proposed method with various existing methods published recently, demonstrating its effectiveness and superiority. • This design methodology is highly valuable for control systems with fluctuating and inaccurately-identified process parameters.
Keywords:
PID controller
parameter stabilizing set
discrete systems
geometric methods
stability margin
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