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<p>The PID controllers are widely used in industry and the phase and gain margins can be used to assess the controller robustness and performance. However, the classical phase and gain margin requirements may not be sufficient since they are guaranteed separately. Instead, the disk margin simultaneously accounts for the gain and phase variations and provides a stronger guarantee of robustness. In this work, we propose a geometric-based design considering the stabilizing set in the parameter space and a guaranteed disk margin. A numerical example is provided to validate the proposed tuning method.</p>

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Geometric-based PID Control Design with Guaranteed Disk Margin

  • 期刊论文

  • 发表日期：

    2025年12月19日

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  • Rafael F. Q. Magossi,
  • Flávio A. Faria,
  • Leandro J. Elias,
  • Vilma A. Oliveira

摘要

The PID controllers are widely used in industry and the phase and gain margins can be used to assess the controller robustness and performance. However, the classical phase and gain margin requirements may not be sufficient since they are guaranteed separately. Instead, the disk margin simultaneously accounts for the gain and phase variations and provides a stronger guarantee of robustness. In this work, we propose a geometric-based design considering the stabilizing set in the parameter space and a guaranteed disk margin. A numerical example is provided to validate the proposed tuning method.