PID and PID-like controller design by pole assignment within D-stable regions

This paper presents a new PID and PID-like controller tuning method for single-inputsingle-output linear time invariant system. Th tuning method permits the designer to specify a set of desired stable regions, joint or disjoint, in the complex root plane, and then a numerical algorithm is used to find the design controller parameters such that all the roots of the closed-loop system are within the specified regions. This method can be used for both stable and unstable plants with high order degree, for systems with significant time delay, for controller with more than three design variables and for various controller configurations. Another advantage of the method is that it allows a unified treatment of controller for both continuous and discrete systems. Examples and comparative simulation results are provided to illustrate its merit.