Enhanced PID controller design

A method is presented for designing proportional-integral-differential (PID) controller for single-input, single-output (SISO) systems and is subsequently extended to multiple-input, multiple-output (MIMO) systems of a certain class. All systems are assumed to be linear time-invariant systems and to employ unity output feedback. The method is shown to be particularly applicable to multiple robot joint control. It is shown that in many cases, the PID controller can be designed for each joint separately.<<ETX>>