Robust PI Controller Design Satisfying Gain and Phase Margin Constraints

M. Nagurka, O. Yaniv

Research output: Contribution to journalConference articlepeer-review

7 Scopus citations


This paper presents a control design algorithm for determining PI-type controllers satisfying specifications on gain margin, phase margin, and an upper bound on the (complementary) sensitivity for a finite set of plants. Important properties of the algorithm are: (i) it can be applied to plants of any order including plants with delay, unstable plants, and plants given by measured data, (ii) it is efficient and fast, and as such can be used in near real-time to determine controller parameters (for on-line modification of the plant model including its uncertainty and/or the specifications), (iii) it can be used to identify the optimal controller for a practical definition of optimality, and (iv) it enables graphical portrayal of design tradeoffs in a single plot (highlighting tradeoffs among the gain margin, complementary sensitivity bound, low frequency sensitivity and high frequency sensor noise amplification).

Original languageEnglish
Pages (from-to)3931-3936
Number of pages6
JournalProceedings of the American Control Conference
StatePublished - 7 Nov 2003
Externally publishedYes
Event2003 American Control Conference - Denver, CO, United States
Duration: 4 Jun 20036 Jun 2003


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