A general approach to PID optimal design: Achievable designs and generation of stabilizing controllers

The use of optimization is an alternative to the automatic PID tuning rules based on the process reaction curve. However in order for the optimization problem to be well posed it must guarantee the stability of the resulting closed loop. A framework for PID parameter optimization with stability guarantees is what is to be proposed in this paper. The way to the solution is based on the characterization of the set of PID achievable designs and to stablish a condition that will ensure us to move on the appropriate subset of achievable stable PID designs. Copyright (C) 2000 IFAC.