A PID tuning method based on dominant poles and phase margin

A simple PID tuning method for dominant pole placement and phase margin specification is proposed in this paper. By representing some time domain specifications such as the settling time, the percentage overshoot, etc, to a pair of dominant poles, the dominant pole placement method combined with phase margin specification is then employed for a PID tuning. A graphical method is applied to obtain the exact gain crossover frequency at which the time domain and phase margin specifications are satisfied, simultaneously. An example is given for illustration. The proposed method is regardless of the process order, time delay or damping nature.