PID CONTROL DESIGN WITH GUARANTEED STABILITY

This paper presents a Matlab GUI to design PID controllers with guaranteed stability. The GUI shows the stability region in the respective parameter plane KP-KI or KP-KD and the boundary curves for frequency response requirements (phase margin, gain margin, maximum sensitivity and maximum complementary sensitivity). Combining several requirements the tool splits the stability region into zones and the user can explore them in order to tune the controller satisfying those requirements. The GUI can be also used in lectures about stability, robust PID control, PID design in the frequency domain, PID Loop Shaping, and it can be very useful for students to get insight into tuning PID controllers.