2020/12/04 by Haoan Wang, Levent Guvenc, Levent Güvenç +2 · 1 citation
Computer Science · Engineering · #FOS: Electrical engineering #Hydraulic and Pneumatic Systems #Real-time simulation and control systems #Systems and Control (eess.SY) #Vehicle Dynamics and Control Systems #cs.SY #eess.SY #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2012.02373
7 pages, 10 figures
openalex publication_date 2020/12/04 · arxiv created 2021/09/27 · arxiv updated 2021/09/29 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper presents a multi-objective digital PID controller design method using the parameter space approach of robust control. Absolute stability is treated first by finding the digital PID controller gain parameter space corresponding to closed loop poles being inside the unit circle. Phase margin, gain margin and a mixed sensitivity bound are treated as frequency domain constraints. Determination of digital PID controller parameter space regions satisfying these constraints is presented. All of these regions are superimposed to obtain a multi-objective digital PID controller gain parameter space solution region. The path following controller design of an automated driving vehicle is used as an example to illustrate the method.