Abstract
An analytical method is proposed to tune the PIIPID controller to pass through two design points on the Nyquist curve as specified by the gain and phase margins. They are the appropriate use of pole-zero cancellation and algebraic simplification of certain nonlinear functions. The required process parameters can be simply computed on the basis of the ultimate gain, ultimate period and static gain which may be supplied by the well-known relay-feedback or other auto-tuners. The excellent perfonnance of the tuning formulae has been substantiated by extensive simulation
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