Robust PID controller design via LMI approach

Ming Ge, Min Sen Chiu, Qing Guo Wang

Research output: Contribution to journalArticlepeer-review

234 Citations (Scopus)


In this paper, a method which allows explicit incorporation of the description of system uncertainties in the problem formulation for designing robust proportional-integal-derivative (PID) controller is presented. The multiple-model paradigm is employed to represent the uncertainties and provides the basis for the PID controller design. Using standard techniques, the robust PID controller design is reduced to a convex constraint problem which can be efficiently solved with linear matrix inequalities (LMIs) approach. Various practical specifications are considered simultaneously within this framework. Extension to system with time-delays, which follows naturally from the preceding development, is also discussed. Two examples are used to demonstrate the effectiveness of the proposed method and a comparison with the existing PID tuning methods is made.

Original languageEnglish
Pages (from-to)3-13
Number of pages11
JournalJournal of Process Control
Issue number1
Publication statusPublished - Jan 2002
Externally publishedYes


  • Linear matrix inequalities (LMI)
  • Multiple-model
  • PID
  • Time-delay

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Computer Science Applications
  • Industrial and Manufacturing Engineering


Dive into the research topics of 'Robust PID controller design via LMI approach'. Together they form a unique fingerprint.

Cite this