The Proportional-Integral-Derivative (PID) controller operates the majority of modern control systems and has applications in many industries; thus any improvement in its design methodology has the potential to have a significant engineering and economic impact. Despite the existence of numerous methods for setting the parameters of PID controllers, the stability analysis of time-delay systems that use PID controllers remains extremely difficult, and there are very few existing results on PID controller synthesis.

Filling a gap in the literature, this book is a presentation of recent results in the field of PID controllers, including their design, analysis, and synthesis. The focus is on linear time-invariant plants, which may contain a time-delay in the feedback loop---a setting that captures many real-world practical and industrial situations. Emphasis is placed on the efficient computation of the entire set of PID controllers achieving stability and various performance specifications---both classical (gain and phase margin) and modern (H-infinity norms of closed-loop transfer functions)---enabling realistic design with several different criteria. Efficiency is important for the development of future software design packages, as well as further capabilities such as adaptive PID design and online implementation.

Additional topics and features include:

• generalization and use of results-due to Pontryagin and others-to analyze time-delay systems

• treatment of robust and nonfragile designs that tolerate perturbations

• examination of optimum design, allowing practitioners to find optimal PID controllers with respect to an index

• study and comparison of tuning techniques with respect to their resilience to controller parameter perturbation

• a final chapter summarizing the main results and their corresponding proposed algorithms

The results presented here are timely given the resurgence ofinterest in PID controllers and will find widespread application, specifically in the development of computationally efficient tools for PID controller design and analysis. Serving as a catalyst to bridge the theory--practice gap in the control field as well as the classical--modern gap, this monograph is an excellent resource for control, electrical, chemical, and mechanical engineers, as well as researchers in the field of PID controllers.

Zusammenfassung
This monograph presents our recent results on the proportional-integr- derivative (PID) controller and its design, analysis, and synthesis. The fo­ cus is on linear time-invariant plants that may contain a time delay in the feedback loop. This setting captures many real-world practical and in­ dustrial situations. The results given here include and complement those published in Structure and Synthesis of PID Controllers by Datta, Ho, and Bhattacharyya [10]. In [10] we mainly dealt with the delay-free case. The main contribution described here is the efficient computation of the entire set of PID controllers achieving stability and various performance specifications. The performance specifications that can be handled within our machinery are classical ones such as gain and phase margin as well as modern ones such as Hoo norms of closed-loop transfer functions. Finding the entire set is the key enabling step to realistic design with several design criteria. The computation is efficient because it reduces most often to lin­ ear programming with a sweeping parameter, which is typically the propor­ tional gain. This is achieved by developing some preliminary results on root counting, which generalize the classical Hermite-Biehler Theorem, and also by exploiting some fundamental results of Pontryagin on quasi-polynomials to extract useful information for controller synthesis. The efficiency is im­ portant for developing software design packages, which we are sure will be forthcoming in the near future, as well as the development of further capabilities such as adaptive PID design and online implementation.

Inhalt
The Hermite-Biehler Theorem and its Generalization.- PI Stabilization of Delay-Free Linear Time-Invariant Systems.- PID Stabilization of Delay-Free Linear Time-Invariant Systems.- Preliminary Results for Analyzing Systems with Time Delay.- Stabilization of Time-Delay Systems using a Constant Gain Feedback Controller.- PI Stabilization of First-Order Systems with Time Delay.- PID Stabilization of First-Order Systems with Time Delay.- Control System Design Using the PID Controller.- Analysis of Some PID Tuning Techniques.- PID Stabilization of Arbitrary Linear Time-Invariant Systems with Time Delay.- Algorithms for Real and Complex PID Stabilization.