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This paper presents a successful graphical technique for finding all discrete-time proportional integral derivative (PID) controllers that satisfy a robust stability constraint for heading control of a 2 meter autonomous sailing vessel. This problem is solved by finding all achievable discrete time PID controllers that simultaneously stabilize the closed-loop characteristic polynomial and satisfy...
PID auo-tuning is widely used to control stable processes, however, its application to unstable processes is less common. In this paper, an engineering oriented identification technique for single process is proposed, and simple formulas are derived to tune the PID controller for unstable processes with time delay to meet gain and phase margin specifications. With the proposed PID tuning method, a...
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