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References for Stability, PID tuning, etc please

References for Stability, PID tuning, etc please

References for Stability, PID tuning, etc please


I briefly learned about control systems for about a week as an undergraduate.  That was years and years ago, now I'm back in school knee deep in linearization of a feedback control loop with a PI controller on it.  

So, I've figured out how to take the physical system and derive this "linearized" control equation (I think...), Now I'm trying to figure out how to choose my controller gains, and evaluate system stability  w/ routh criterion.

I've got the Ogata(sp?) paper, but this type of writing makes my head hurt, wondering if anyone out there can point me towards other useful references?

Much Thanks

RE: References for Stability, PID tuning, etc please

Ogata paper? Do you mean the Ogata text? I refer to it sometimes. Very good reference.
If you have the linearized equations you can form a characteristic equation. With this you can use routh hurwitz, root loci, or nyqist analysis to determine the stability.
The gains should be chosen base on other criterion's such as overshoot ect. Or maybe LQR, ect. depending on what you are doing.
A good online reference is this:


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