Tuning of Multiloop Proportional−Integral−Derivative Controllers Based on Gain and Phase Margin Specifications

An analytical method of tuning multiloop proportional−integral−derivative controllers based on gain and phase margin specifications is presented in this paper. The proposed design method can tune the multiloop controllers on-line and in real-time to meet specified system robustness and performance. The design method can be easily combined with existing process identification techniques to implement self-tuning multiloop controllers.