MILOŠ SCHLEGEL - MICHAL BRABEC

1
 Contents
• Motivation
• The H∞ control design problem
• PID H∞ Designer: a web-based tool for designing robust PID controllers
• Parameter Plane Formulation of Basic PI-Controller Design Problem
• General Formulation of PI(D) Design Problem for Process Model Set
• Conclusion
• Appendix A: Parameterization of all H∞ PI controllers
• Appendix B: Selection of derivative control gain
• Appendix C: PID Hinf Designer GUI – Parametric Uncertainty (P.U.)
• Appendix D: PID Hinf Designer GUI – Experimental Model Set (E.M.S.)
• Appendix E: PID Hinf Designer GUI – System Identification
• Appendix F: Application Examples

2
 PID design method
• For a long time, the development of PID controller design methods has been the goal of the control
community. Despite that manual model-free tuning of controllers is still the most commonly used
PID design method in industry.
• Tuning rules (Ziegler-Nichols, Lambda tuning, AMIGO method [1], Internal model control, Skogestad’s
SIMC method [2], … )
Universal relations between model and controller parameters.
• Optimization-based method (MIGO [3], SWORD [4], MATLAB pidTuner )
Treats each process model individually.

[1] Astrom, K.J. and Hagglund, T.: Advanced PID Control. ISA, 2006, ISBN 1-55617-942-1
[2] Skogestad, S. and Grimholt, Ch.: The SIMC Method for Smooth PIDController Tuning. PIDControl in the Third [Link]. 2012
[3] Astrom, K.J., Panagopoulos, H., Hagglund, T.: Design of PI Controllers based on Non-Convex Optimalization. Automatica, Vol. 34, No. 5, pp. 585-601, 1998.
[4] Garpinger, O.: Analysis and Design of Software-Based Optimal PID Controllers. PhD Thesis, Department of Automatic Control Lund University, 2015.

3
 There exists no generally accepted
design method for PID controller
The design procedures associated with modern control theory (H∞ , LQG)
provide high order controllers. Practice prefers simple controllers.

LQG or H∞
Design
High Order Plant High Order Controller
Direct
Model Design Controller
Reduction Reduction

Low Order Plant Low Order Controller

LQG or H∞
Design

Anderson, B.D.O.: Controller Design Moving from Theory to Practice. 1992 Bode Prize Lecture.
4
 Requirements for effective design
method
• Versatility: It should be applicable to a wide range of systems (i.e.
stable/unstable/non minimal phase/oscillatory process transfer functions)

• Adaptability/Practicality : It should have the possibility to introduce

specifications that capture the essence of real control problems (i.e.
robustness/performance trade-off, servo/regulator problem)

• Clear answer: The method should be robust in the sense that it provides
controller parameters if they exist, or if the specifications cannot be meet an
appropriate diagnosis should be presented

5
 The general H∞ Control Problem
w z
P
PP minimize → 

subject to stabilizes P internally

u y
C
C

= Given a real rational transfer matrix In our considered case,  →

is
called the plant a scalar function and it holds
 Searched controller from
the controller space
2
= 2
= (  )
 0 0 

→
The closed-loop performance 2 2
1

or robustness transfer matrix  1 

( ) ( )  
+ 2

2

 2
 −


6
 The H∞ Control Problem considered

Find all controllers  for which it holds The performance or robustness

channel  is a scalar weighting
→
  →

closed-loop sensitivity function and it holds



subject to  stabilizes P internally 2

= 2
= 



+  C 0
2
0
2
1 1

 +  = 1 +  2
 − 
2 2
2
   
   2 −

2

7
[Link]

8
 PID H∞ Designer (1)

• PID H∞ Designer is the first advanced easy to used web design tool for the analysis and design of
optimal PI(D) controllers with respect to performance integral criteria IE, IAE, ITAE, ISE and H∞
robustness constraints.
• PID H∞ Designer can be used for a wide range of process models (unstable, non-minimal phase,
oscillating, time-delayed systems, systems of any order, …) and also for so-called model sets
created from any number of process transfer functions.

• Supported design specifications reflect the essence of real control problems. Optimization of
integral criteria IE, ISE, IAE, ITAE under H∞ constraints is supported for both load disturbance
attenuation and set-point tracking problems).
• Designing of PI(D) controller with typical specifications using PID H∞ Designer is a routine procedure
that does not require deeper knowledge of control theory from the user.

9
 PID H∞ Designer (2)

• With more skills and efforts from the designer it should be possible using PID H∞ Designer to design
high performance PID controllers extended with a suitable linear compensator (Cascade Controller,
Resonant Controller, Smith Predictor, Repetitive Control, …).
• PID H∞ Designer also supports simple process models obtained from popular identification
experiments. Specifically, two- or three-parameter models obtained from the step response of the
process are supported, as well as models obtained from the relay experiment (based on the
knowledge of one point of the frequency response). Moreover, the non-standard moment model set
provided by the PIDMA-autotuner from the company REX Controls is also supported.

10
PID H∞ Designer: Options

11
 PID H∞ Designer: Design Environment

The user can choose between two design environments. Each of them is specifically designed
to accommodate users with different levels of expertise.

Step By Step WorkSpace

The environment is intended primarily for The environment is more suitable for advanced
beginners who are working with the tool for users who are already familiar with the design
the first time. For these reasons, the design process. This environment also includes a set of
process is divided into several steps (slides). All auxiliary functions and settings to streamline the
necessary information is then explained in the design and analysis of the solution.
individual phases of the design process.

12
 PID H∞ Designer GUI: Step By Step (1)

System
Identification
Experimental
I/O data
(See
Appendix E)

Entering rational
transfer function
+ time delay of
processes

13
 PID H∞ Designer GUI: Step By Step (2)
Enter weighting
functions
and
compensators
Select the
controller type

Choice of
desired control
performance

1
Enter H∞ limitations
2 Select
weighting
functions,
compensators,
systems,
sensitivity
functions and
values of H∞
limitations

14
PID H∞ Designer GUI: Step By Step (3)
Selection of
the criterion
function

The resulting
controller

1 2
Manual tuning
of the controller

15
 PID H∞ Designer GUI: WorkSpace
Create a closed-loop
assembled transfer
function (e.g. for
Entering transfer cascade control) or
functions of processes store actual controller
for iterative
modification via
parallel compensator
Selection of a model set
The resulting controller

H∞ region selection

1
1 Manual tuning
Enter H∞ limitations
of the controller
2 2

Enter weighting functions

and compensators
Selection of the design
criterion
Select weighting functions,
compensators, systems,
Select the controller type sensitivity functions and
values of H∞ limitations

16
 PID H∞ Designer GUI: WorkSpace
Controller Settings
Affine-structured controller
Conclusion (2)
labelled as QRF

Select the controller type

Estimate kd value
Show controller form

Manage DoF

Choose compensators

17
 PID H∞ Designer GUI: WorkSpace
Auxiliary Tools (1)

Find the Minimum Performance Criteria Open Loop-Value Set

Multipoint Analysis
Gamma Value Contour Line Region/s
Analysis of the obtained
Finding the minimum Computing contour Show open loop value
optimal solutions with
gamma value for selected lines of selected set/s for selected
possibly of exploration
design constraints criterion function for frequencies. Value set/s
over the H∞ region to
solutions from the H∞ represents a model
achieve the desired
region uncertainty on these
behavior
frequencies

18
 PID H∞ Designer GUI: WorkSpace
Auxiliary Tools (2)

Multiparametric Signal Response Tolerance Circles ε – Constraint

Analysis
Simulate system Calculation of tolerance Find the solution that
Analysis of the choice of responses for various circles of nominal open loop satisfy selected
the parameter gamma, types of signals. frequency characteristic in amplitude limit ε on the
kd, or 𝜏 according to complex plane according to frequency interval
several characteristics selected nominal gamma between ω1 and ω2
value and maximal gamma
value

19
 PID H∞ Designer GUI – Systems Editor
System Identification
Experimental I/O data
(See Appendix E)
Parameter Uncertainty
Model Set
(See Appendix C)

Rational Transfer Function

+ Time Delay

Experimentally Determined
Model Set
(See Appendix D)

20
 Parameter Plane Formulation of Basic
PI-Controller Design Problem

=    weighting sensitivity function

   
  
   the closed-loop is stable  
-region in the parameter plane

1) Find the 
- region  in the - plane. (See Appendix A for details.)

2) Find the optimal PI-controller in the 
- region  with respect to the criterion 
0

for the step in the reference value (servo problem) or load disturbance (regulator problem)

21
 Parameter Plane Formulation of Basic
PID-Controller Design Problem

=     ……………… ……………………… weighting sensitivity function

    
  
   the closed-loop is stable … 
region in the parameter plane

for the fixed and 

1) Choose the derivative gain and the time constant  manually or with the help of
a built-in function. (See Appendix B for details.)
2) Find the 
region  
in the plane.

3) Find the optimal PID-controller in the 
region  
with respect to the criterion 
for the step in the reference value (servo problem) or load disturbance (regulator problem)
22
 H∞ limitations supported

H (s)

 )
   H ( j )   ,   0, 

Sensitivity functions (gang of four) Servo problem Regulator problem

1 (set-point tracking) (load disturbance rejection)
= =  =  =
1+  →   →  
 
Weighting functions →   →  
 

→   →  
 

23
H∞-Region in the Parametric Plane 𝑘𝑖 − 𝑘𝑝
(It contains all PI controllers that meet the specified H∞ limitations)

Finding the 
- region
  =  
 
  the closed-loop is stable 
( )
is generally a very difficult problem. PID Hinf Designer [Link] is the first
software tool available to fully address this issue.

24
 Example of Simple Design specification
of PI-controller for FOPDT system
−
Proces transfer function: =
+1
 1 
Controller transfer function: = 1 +  = +

 
1
Sensitivity function: =
1+
Weighting function: =1
Type of control problem: regulator problem (load step disturbance rejection)


Design specification: =  0

subject to

      0  )
25
 PID H∞ Designer
Input :
−
=
+1
 
PI-controller  = + 

 
=16

Output :
= 0 463 = 0 509
= 0 565 = 0 488
= 0 557 = 0 492

Optional output :
ZN Ziegler-Nicols (1942, step response)
SIMC Skogestad (2012)
AMIGO Hagglund and Astrom (2004)

26
 More General Formulation of Design Problem
(fully supported by PID H∞ Designer)

=   model set of transfer functions

 process transfer function
   controller transfer function

= = = = loop sensitivity transfer functions

+ + + +
=   design criterion set
   
   
 design criterion selected
weighting functions

Controller Robust Design Problem

subject to the 
limitations
     
   

27
 Example of Design Specification of Robust
PI-controller for Process Model Set
 −0 0216 + 0 0031 −0 0174 + 0 0046 
Proces model set: P  = −0 166
= −0 166

+ 0 457 + 0 0868 + 0 5978 + 0 0445
1 2 2 2
 
 1 
Controller transfer function: =  1 +  = +
 
1
Sensitivity functions: = =12
1+
Weighting functions: =1 =12
Type of control problem: regulator problem (load step disturbance rejection)

  0
Design specification:
12

subject to

 =1 2    = 1 2   0  )

28
PID H∞ Designer
Input :
−0 0216 + 0 031 −0 166
=
+ 0 457 + 0 0868
1 2

−0 0174 + 0 0445 −0 166

= 2
+ 0 5978 + 0 0445
2

= +

=16

Output :
= 6 313 = 0 8704
= 6 313 = 0 8704
= 6 313 = 0 8704

29
 Conclusion (1)
• PID H∞ Designer is the first advanced easy to used web design tool for the analysis and design of
optimal PI(D) controllers with respect to performance integral criteria IE, IAE, ITAE and H∞ robustness
constraints.
• PID H∞ Designer can be used for a wide range of process models (unstable, non-minimal phase,
oscillating, time-delayed systems, systems of any order, …) and also for so-called model sets created
from any number of process transfer functions.
• PID H∞ Designer provide a new explicit algorithm to determine the 𝐻∞ - regions in the parameter plane
of PI controller for all commonly used 𝐻∞ limitations of the weighted sensitivity functions.

• PID H∞ Designer also supports simple process models obtained from popular identification experiments.
Specifically, two- or three-parameter models obtained from the step response of the process are
supported, as well as models obtained from the relay experiment (based on the knowledge of one
frequency point). Moreover, the non-standard moment model set provided by the PIDMA-autotuner
from the company REX Controls is also supported.

30
 Conclusion (2)
• Designing of PI(D) controller with typical specifications using PID H∞ Designer is a routine procedure
that does not require deeper knowledge of control theory from the user.
• With more skills and efforts from the designer it should be possible to design high performance PID
controllers extended with any linear compensator suitable (Resonant Controller, Smith predictor,
Repetitive Control, …).

• More details about the affine-structured controller in Semi-Plenary Lecture or in white paper
„Analytical Design of a Wide Class of Controllers with Two Tunable Parameters Based on H∞
Specifications“

Semi-Plenary Lecture H∞ Affine Controller

Process Control 2023 White Paper

31
 Appendix A: Isolation of H∞-Region (1)
For more details see: Schlegel M., Medvecová P., Design of PI Controllers : Hinf Region Approach.
IFAC PapersOnLine 51-6 (2018), 13-17.

Proposition : If = + = has no poles on the imaginary axis, and the design

specification is
1
= =   1,
 1+  

then the boundary of the 

-region  is contained in the solutions of the two systems of equations
2
(i)  =0 ii  = 2 ,
2
 
 =0 =0


()
The system of equations i has a solution =0 , i.e. any point on the axis is a solution
()
of this system. The solution of the system ii is determined by the parametric curves
 Appendix A (2)
 
= 

2 2
+ 2 2
+ − 2
+2 + 2
+ 2
+ 2
+ 2
−1 +
   0  )
= 1 1 1 1 1 
 2
2 + 2
− 2 
1 1 1 
where 1 1
are the functions of  defined by
 =  +  +

= 1 + 1 + 1
 1

and =1    0 2 4 are the frequency dependent real roots of quartic polynomial

4
+ 3
+ 2
+ + =0
with the real frequency dependent coefficients
= 2
+ 2 4

=2 2
+ 2 2
− 1
2
+ 2 1
+ 2
1
+ 2
+ 3

=− 2
+ 2
2 1
3
+ 4 2
1
2
+ 2 2
1
− 2 2 2
1
2
− 2 2 2
1
2
− 2 2 2
− 8 1
2 2
+
+ 2 1
2
− 2 2
1
2 2
− 4 2
+ 2 3
1
− 2 2 2
1
2
− 4 3
1
2

= −2 − 1
2 3 2
− 2 2
1
2
−2 1
3 2
− 2 2
1
2
+ 2 2
1
2
− 4
1
2
− 3 2
1
2
+
+ 3 1
2
1
− 2 2
1
+ 1
3
+ 2 2 2
1
+ 3 2
1
− 3
1 1
+ 2 2
1
+ 3
1
+ 4
1

= − 2 2
−1 − 2
1
2 2
− 2 2
1
2
+2 1 1
+ 2 2
1
+ 2 2
1

33
 Appendix A (3)
() ()
The curves representing the solutions of systems i and ii divide the parametric plane into
regions. From them, it is necessary to select those that meet the design specifications. For this
purpose, it is sufficient to test only one point of the respective region.

Example: 
− region for unstable process:
3
+ 4 2 − +1
= 5
+2 4
+ 32 3 + 14 2 − 4 + 50
= +  2 8 and


closed loop is stable

1
=  =28
 1+ 

34
 Appendix A (4)

WorkSpace → Auxiliary Tools →

→ Multiparametric Analysis

Example : 
− region for unstable process:
3
+ 4 2 − +1
= 5
+2 4
+ 32 3 + 14 2 − 4 + 50
= +

1
= 
 1+ 


 2627 28 

35
 Appendix B: Selection of 𝑘𝑑 and 𝜏
It is recommended to start with the ideal PID controller  = 0 If there exists a PI controller for the
given design specification with parameters , ,( = ), then it is recommended to estimate
optimal in the interval 0 2 2
03 2
 manually or with the help of GUI build-in function
 .

36
 Appendix C: PID H∞ Designer GUI –
Parametric Uncertainty (P.U.)
Specify the type
of uncertainty
and its
parameters

Define uncertain
parameter/s in TF

37
 Appendix D: PID H∞ Designer GUI –
Experimental Model Set (E.M.S.)

Select type of model set

Model set
parameters

Number of
systems on the
curve of value
set of model set

Plot the value

set at frequency
omega

Maximal order of system

38
 Appendix E: PID H∞ Designer GUI –
System Identification (1)
Time samples Input data
samples

A user must use System output

the clipboard samples
function which is
integrated into
the window
manager to enter
Input/Output
data. This tool is
accessible
through the
control panel on
the left side of the
screen.

39
 Appendix E: PID H∞ Designer GUI –
System Identification (2)

Select part of
I/O data to
identification

40
 Appendix E: PID H∞ Designer GUI –
System Identification (3)
Identified
model types
Type of
identified
model
Delete selected
actual model/s

Identified Hide selected

parameters of actual model/s
model response/s

Queue of
models for
importing to
Run the System
identification Editor

Run
additional Queue models
numerical editing
fitting
Add selected/new
model/s to the
queue

41
Appendix F: Application Examples

42
 Magnetic Levitation System
1
= 2 Fem1—attraction force of the upper electromagnet [N],
Fem2—attraction force of the lower electromagnet [N],
2
=− 1
+ 2
+ Fg—force of gravity [N],
g—acceleration of gravity—9.81 [m/s2]
3
=
1
( 1
+ − 3 ) m—mass of ball—0.0571 [kg],
1 u1—electric voltage of the upper coil—<umin, 1>,

4
=
1
−
( 2
+ − 4 ) umin = 0.00498 [V],
u2—electric voltage of the lower coil—<umin, 1> [V],
1
xd—distance between the magnets minus the ball
diameter—defined by user [m],
where
x1—distance from the upper magnet to ball
− 1
—<0, 0.016> [m],
1
= 2
3
1 2
x2—linear speed of the ball [m/s]
x3—coil current of the upper electromagnet
2
−
−
—<imin, 2.38>,
1

= 2 1 2
= 0 0242 A = 1 4142  10−4 ms
2 4
imin = 0.03884 [A], 1
2
x4—coil current of the lower electromagnet 1
= 1 7521  10−2 H 2
= 4 5626  10−3 m
−
= 1 2 —<imin, 2.38> [A]. 2
= 5 8231  10−2 H = 2 5165 A
2

43
Magnetic Levitation System: Linear Model
Set
Transfer Functions from u1 to x1 (u2=0)

−2 0893 4
= = 8 mm
+ 186 2891  2 − 1 6847 3  − 3 1384 5
1 3 1

−2 7277 4
= 3 = 10 mm
+ 288 7746  2 − 1 6847 3  − 4 8649 5
2 1

−3 5611 4
= 3 = 12 mm
+ 447 6417  2 − 1 6847 3  − 7 5413 5
3 1

[ML1] Hypiusová M., Kozáková A.: Robust PID Controller Design for the Magnetric Levitation
System: Frequency Domain Approach. 21st International Conference on Process Control
(PC), June 6-9, 2017, Štrbské Pleso, Slovakia

44
 PID H∞
Designer
Input : MT=1.7
Model Set:  1 2 3  MS=2.0

Design specification:
IAE
2DOF PID controller
Setpoint tracking, IAE
20 1 7

Output :
= −51 95
= −59 07
= −3 63
=05 =00

45
Comparison with the PID-controller proposed in [ML1]

PID H∞ Designer:
MT=1.7
MS=2 2DOF PID - controller
= −51 95
IAE = −59 07
= −3 63
=05 =00

[ML1]:
1DOF PID - controller
= −33 27
= −61 04
= −4 532

46
Longitudinal motion of F4E fighter aircraft
We consider a model of the longitudinal motion of an
F4E fighter aircraft [LM1], [LM2]. The input is the elevator
position, the output is the pitch rate, and the system is
linearized around four representative flight conditions:

=1 4

Mach 0.5, 5000 ft: 1

( ) = −52 75 + 22 00 + 15 84 +2 3 1
= −163 8 − 185 4
Mach 0.85, 5000 ft: 2
( ) = −122 5 + 34 93 + 17 12 +
2 3 2
= −789 1 − 507 8
Mach 0.9, 35000 ft: 3
( ) = −14 64 + 17 51 + 15 33 +
2 3 3
= −101 8 − 158 3
Mach 1.5, 35000 ft: 2
( ) = 269 1 + 43 60 + 15 74 +
2 3 4
= −251 4 − 304 2

[LM1] J. Ackermann. Robust Control Systems with Uncertain Physical Parameters. Springer Verlag, Berlin, 1993.
[LM2] Henrion D.,Šebek M.,Kučera V.: Positive polynomials and robust stabilizationwith fixed - order
controllers. IEEE Trans. Automatic Control AC-48 2003 ,7. ( )
47
 PID H∞
Designer IAE
MS=1.4

Input :
Model Set:  1 2 3 4 
Design specification:
2DOF PI controller
Setpoint tracking, IAE
14

Output :
= −0 25
= −0 64
=00 =00

48
 PID H∞
Designer MT=1.4

Input : MS=1.4
Model Set:  1 2 3 4  IE

Design specification:
2DOF PID controller
Setpoint tracking, IE
14 1 4

Output :
= −3 12
= −13 63
= −0 06
=04 =06

49
Comparison with the P-controller proposed in [LM2]

HŠK PID H∞ Designer:

2DOF PID - controller
IE = −3 12
= −13 63
= −0 06
=04 =06

HŠK [LM2]:
P - controller
= −0 8698

50
 Benchmark Problem for Robust Control
Wie, B. and D.S. Bernstein (1990). A benchmark problem for robust control design. In: Proc.
American Control Conference. San Diego, CA, USA. pp. 961–962.
x1 x2 = y
u k
w2
w1


  0 0 1 0   0   0 0 

    
1 1
  
2 0 0 0 1  2
0  + 0 0  
= + 
1


 − 0 0   1  1 0  2
3

  1 1
 3
  1
  1

4 
 2
− 2
0 0   4  0   0 1 2 
 
= 2 2  
 0 5 2   →  =  →0
2
 +2  ( 2
+ 2 2  + 2 )
 
2
= 1 2
= 1
 1 1

51
 PID H∞
Designer IE MT=1.04
MS=1.6
Input :
Model Set:  1 2 3 
1
= 0501
2
= 1001
3
= 2001
Design specification:
1DOF PI + compensator
2
 
 2 
=
 (
 2 + 2  +  2 ) 

=09  =07 Si, i=1..3
Setpoint tracking, IE
14  1 05

Ti, i=1..3
Output :
= 0 2586
= 0 001413
=00

52
PID Controller Design using One Frequency Point
o SCHLEGEL, M.: Nový přístup k robustnímu návrhu průmyslových regulátorů. Habilitační práce, Západočeská
univerzita v Plzni, 2000. [Link]
o SCHLEGEL, M.: Exact Revision of the Ziegler-Nichols Frequency Response Method. In Proceedings of the
IASTED International Conference Control and Application, Cancun, Mexico, 2002, p. 121-126. ISBN
088986330X, ISSN 1025-8973 .

Definition (One Point Model Set). We are given one disturbance free sample of the plant frequency
responce 1
1 and a fixed 
 2 
 . A plant model is an element of the plant family − ( 1
1 )
if it is consistent with the two following conditions:

(i) (A priori Hyposisis)

1

0.5
16

( )= 1 0
14
-0.5
12
-1

where  is a polynomial with real

10
-1.5

-2 8

nonnegative coeficients, and all roots of lie in -2.5 6

(
the interval − 0  -3

-3.5
4

-4 0
-2 -1 0 1 2 3 0 2 4 6 8 10
(Experimental Data Interpolation)
1 = 1
− 2  1  0
53
 Main Idea of Solution
model set of dimension n-2 value set of dimension 2

1 1 

− 1 − 1

F(s)   1

F(j )

ultimate members

Only ultimate members of the unfalsified plant family

can play an active role in the Nyquist curve
constraints.

54
 PID H∞ MT=1.4

Designer
IE
MS=1.4
Input :
Model Set:
− 1
1
= 10 1
= −1 8
1 = 1

Design specification:
2DOF PI controller
Setpoint tracking, IE
14 1 4

Output :
= 0 37
= 0 091
=03
55
 PID-Autotuner PIDMA
o SCHLEGEL M.: Nový přístup k robustnímu návrhu průmyslových regulátorů. Habilitační práce, Západočeská
univerzita v Plzni, 2000. [Link]
o SCHLEGEL M., Večerek O.: Robust design of Smith predictive controller for moment model set . Proceedings
of the 16th IFAC World Congress, p. 427-432, Elsevier, Oxford, 2006.
o SCHLEGEL M., BALDA P., ŠTĚTINA M.. Robustní PID autotuner: momentová metoda. Automatizace,
46(4):242–246, 2003.

Definition ( ( , , 2 ) - Model Set). We are given the first three moments 0 1 2

of the process impulse
response and fixed  2  
 . A transfer function is an element of the plant family − (   )
2

if it is consistent with the two following conditions:

(i) (A priori Hyposisis) (Experimental Data)

() 1 
= =  0
=012

where  is a polynomial with real  = 0

nonnegative coeficients, and all roots of lie in = 1 0

(
the interval − 0  2 = 2 1
− 2
1
2
0

56
 PID H∞ IE MT=1.1

Designer MS=1.6

Input :
Model Set:
− (   )
2

= 20  = 1  = 1  2 = 0 6

Design specification:
2DOF PID controller
Setpoint tracking, IE
16 1 1

Output :
= 2 587
= 4 311
= 0 25
=08 =1
57