PID tuning procedure based on simplified single parameter optimization

In this paper, a new tuning algorithm for PID controller based on gain margin and phase margin concept is proposed. The controller parameters are dependent on single parameter, which are subjected to a desired phase margin, and a minimum required gain margin constraint. The main advantage of the proposed tuning algorithm with respect to previous works is that it is easy to implement. Moreover the algorithm is applicable to any linear as well non-linear model structure. The algorithm has been demonstrated by simulation results.