Discrete-time PID controller tuning using frequency loop-shaping

Ashfaque B. Shafique, Konstantinos Tsakalis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations


A loop-shaping approach for tuning Proportional-Integral-Derivative (PID) controllers is presented. A Glover-McFarlane controller is used to determine a target loop-shape that is approximated by a PID structure via the use of an LMI optimization method. If the approximation error from the minimization satisfies a standard small gain condition, then the tuned PID controller also shares the attractive robustness properties of the controllers. The entire design process is carried out in discrete-time assuming a discrete plant is available. Typical test cases are used to show the implementation of this method and the quality of the resulting closed loops.

Original languageEnglish (US)
Title of host publicationIFAC Conference on Advances in PID Control, PID 2012 - Proceedings
Number of pages6
EditionPART 1
StatePublished - 2012
Event2nd IFAC Conference on Advances in PID Control, PID 2012 - Brescia, Italy
Duration: Mar 28 2012Mar 30 2012

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
ISSN (Print)1474-6670


Other2nd IFAC Conference on Advances in PID Control, PID 2012


  • Automatic tuning
  • Ellipsoid method
  • Glover-McFarlane controller
  • LMI optimization
  • Loop-shaping
  • PID controllers

ASJC Scopus subject areas

  • Control and Systems Engineering


Dive into the research topics of 'Discrete-time PID controller tuning using frequency loop-shaping'. Together they form a unique fingerprint.

Cite this