ABSTRACT
This chapter consists of seven sections. In Section 6.2, we present the desired closed-loop performance specification in terms of the controller output response for both stable and integrating processes. In order to gain some insight into the new design method, Section 6.3 discusses a least squares approach to the PID controller parameter solutions. From the least squares solution, we propose in Section 6.4 a simpler approach based on process information at just two frequency points. Section 6.5 addresses the question of which two frequencies should be used in the design. Section 6.6 discusses the choice of a PI or a PID controller and provides some guidance with respect to the selection of the closed-loop performance parameters. Extensive simulation studies are performed in Section 6.7 and the results are compared with other design methods.
