Robust PI Controller Design Satisfying Sensitivity and Uncertainty Specifications

Oded Yaniv, Mark Nagurka

Research output: Contribution to journalArticlepeer-review

42 Scopus citations


This note presents a control design method for determining proportional-integral-type controllers satisfying specifications on gain margin, phase margin, and an upper bound on the (complementary) sensitivity for a finite set of plants. The approach can be applied to plants that are stable or unstable, plants given by a model or measured data, and plants of any order, including plants with delays. The algorithm is efficient and fast, and as such can be used in near real-time to determine controller parameters (for online modification of the plant model including its uncertainty and/or the specifications). The method gives an optimal controller for a practical definition of optimality. Furthermore, it enables the graphical portrayal of design tradeoffs in a single plot, highlighting the effects of the gain margin, complementary sensitivity bound, low frequency sensitivity and high frequency sensor noise amplification.

Original languageEnglish
Pages (from-to)2069-2072
Number of pages4
JournalIEEE Transactions on Automatic Control
Issue number11
StatePublished - 1 Nov 2003
Externally publishedYes


  • Design
  • Gain and phase margin
  • Linear systems
  • Proportional-integral (PI) control
  • Robustness


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