TEACHING PID-CONTROLLER DESIGN

This paper presents an analytical, formula-based approach to the design of common controllers in the frequency domain. The orientation of the paper is mainly didactical. The proposed method makes it easier for the students to understand the design procedure and the compromises involved in the design of each type of PID controller. This method facilitates the assessment of different design options and limits. For this purpose, graphic output can be generated. The results are illustrated using a case study throughout the paper.