document: Design PID controllers for desired time-domain or frequency-domain response Practical requirements on the design of control systems , especially process control systems , are usually specified in terms of time-domain response , such as overshoot and rise time , or frequency-domain response , such as resonance peak and stability margin . Although numerous methods have been developed for the design of the proportional-integral-derivative -LRB- PID -RRB- controller , little work has been done in relation to the quantitative time-domain and frequency-domain responses . In this paper , we study the following problem : Given a nominal stable process with time delay , we design a suboptimal PID controller to achieve the required time-domain response or frequency-domain response for the nominal system or the uncertain system . An H/sub infinity / PID controller is developed based on optimal control theory and the parameters are derived analytically . Its properties are investigated and compared with that of two developed suboptimal controllers : an H/sub 2 / PID controller and a Maclaurin PID controller
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