Design of Direct Pole Placement PID Self-Tuners

The direct pole placement PID self-tuners that minimize a criterion function incorporating system input, output, and set point variations are designed and compared. These PID self-tuners are obtained with the Bezout identity and the normalization as underlying design methods. It is not assumed that the system is either stable or stably invertible. By the proposed polynomial identity, the closed-loop poles can be located on prespecified locations, and the computational effort can be reduced.