Document Type

Conference Proceeding



Publication Date



Institute of Electrical and Electronic Engineers (IEEE)

Source Publication

Proceedings of the 2003 American Control Conference

Source ISSN



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).


Accepted version. Published as a part of Proceedings of the 2003 American Control Conference, June 4-6, 2003. DOI. © Copyright 2003 IEEE. Used with permission.

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