The systematic design of PID controllers

A brief overview of the design of PID controllers, in terms of established procedures and recent methods of determining the limiting values of the parameters of the PID controller to guarantee closed-loop stability and performance is given. However, a new and computationally faster way of designing (tuning) PID controllers, and other 2 or 3-parameter compensators, based on the Nyquist plot, that guarantees both robust stability and performance is presented and illustrated