PID tuning with exact gain and phase margins

Qing Guo Wang, Ho Wang Fung, Yu Zhang

Research output: Contribution to journalArticlepeer-review

79 Citations (Scopus)


In this paper, a simple PID controller design method that achieves user-specified gain and phase margins is proposed. Unlike other existing methods in the same category where assumptions on the process dynamics are made to simplify the non-linear problem encountered in computation, our method can yield exact solution for a general linear process. Since the set of unknowns outnumbers the set of equations in the problem, an extra equation is introduced by relating the closed-loop bandwidth to the process bandwidth. This also leads to a simple solution to the gain and phase margin problem. Simulation examples are included to demonstrate the effectiveness of the method.

Original languageEnglish
Pages (from-to)243-249
Number of pages7
JournalISA Transactions
Issue number3
Publication statusPublished - Jul 1999
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Instrumentation
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Applied Mathematics


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