Novel Analytic Technique for PID and PIDA Controller Design

Seul Jung and Richard C. Dorf Department of Electrical and Computer Engineering University of California; Davis Davis, CA 95616 e-mail:[email protected], [email protected] Abstract : In this paper a new design technique for a proportional, integral, derivative (PID) and a proportional, integral, derivative and acceleration(PIDA) controller to satisfy speci cations for transient and steady state response of a third order plant are presented. Based on the s-plane technique, the closed loop roots are forced to line up on one vertical line to satisfy the given speci cations. The PID or the PIDA controller values are analytically calculated by equating two characteristic equations: one is formed from desired root locations with speci cations based on the design criteria, and another one is formed from the nominal control structure as shown in Figure 1. Thus the calculation of values of controllers is so straight forward that one can readily generate a PIDA controller to satisfy given speci cations.