摘要：AbstractA large number of calculation methods for the evaluation of the all stabilizing controller parameter space (also known as stability charts) do exist. This work presents an overview of the most used approaches in this field with the main focus on continuous PID controllers. After a short introduction to the specific theoretical basics a detailed analysis of the advantages and disadvantages of the different approaches will be discussed. The discussion focuses on the underlying theory as well as on the implementation potential. In addition, some open problems of these approaches are solved in the following. Finally the most popular methods for PID stability chart calculation are implemented in open source MATLAB toolbox which can be downloaded on:http://www.irt.rwth-aachen.de/pidrobust. All examples mentioned in this paper are implemented in the toolbox.
关键词：KeywordsRobust ControlRobust StabilityPID ControlLinear SystemsStability ChartParameter Space ApproachHermite Biehler Theorem
