Abstract
In this article, we propose a PID tuning method which can simultaneously guarantee desired closed-loop time response and stability margin. For systems without time-delay, dominant pole placement method is used to guarantee the desired closed-loop time response and generalized-frequency method is adopted to give systems the desired stability margin. For systems with time-delay, however, the desired closed-loop time response and the stability margin are obtained through dominant pole placement method and gain-phase margin test method respectively. To demonstrate the effectiveness and confirm the validity of the proposed methodology, examples are provided for illustration.
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