A new design approach of PD controllers

A PD controller design problem for the system described by a second order dynamic model is investigated in this paper. A new PD type controller is proposed by means of Kharitonov theorem and Bilharz criteria. It is proved that using only two parameters is good enough to stabilize general second order dynamic system despite of its dimensions and coupling characteristics. Unlike the classical PD controller design techniques, this approach does not need to tune the design parameters frequently, so the design procedure is greatly simplified. Especially for the system with asymmetric parties in generalized damping matrix and generalized stiffness matrix, this method transfers the controller design for multivariable system to the choice of a scalar parameter μ. This simple and easy to implement approach can be used for the PD controller design of linear coupled multivariable systems. The attitude control of a spacecraft is used as an example in this study.