Abstract
In this paper, we show that the complete set of PID controllers that stabilizes a LTI plant and achieves prescribed performance levels, can be computed from knowledge of only the frequency response (Nyquist or Bode plot) of the plant and the number of RHP poles. The result is of practical importance in many situations where transfer function or state space models are not available and a design procedure that is free of analytical models is desired. The synthesis method also gives useful information on the frequency range over which accurate frequency response data on the plant is needed for PID design.
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