Tan, Nusret2024-08-042024-08-0420091598-64462005-4092https://doi.org/10.1007/s12555-009-0203-yhttps://hdl.handle.net/11616/94787The PI-PD controller structure provides an excellent four-parameter controller for control of integrating. unstable and resonant processes to set point changes while the conventional PID controller has limitations in controlling such systems. In this paper, a graphical method for the computation of all stabilizing, controllers is given. The proposed method is based on plotting the stability boundary locus, which is a locus dependent oil the parameters of the controller and frequency, in the parameter plane. The stability boundary loci are first obtained in the (K-d, K-f) and (K-p, K-i) planes and then it is shown that all the stabilizing values of the parameters of a PI-PD controller can be found. Computation of stabilizing PI-PI) controllers which achieve User specified gain and phase margins is also studied. The method is used to design robust PI-PD controllers for control systems with parametric uncertainties. A design procedure for interval control systems is proposed. Examples are given to show the benefit of the method presented.eninfo:eu-repo/semantics/closedAccessGain marginphase marginPI-PD controlstabilizationuncertain systemsArticle7217518410.1007/s12555-009-0203-y2-s2.0-64849088180Q2WOS:000264798300003Q3