One parameter tuning method for PID controller

This paper presents one parameter tuning method considering trade off problem of load disturbance responses and robustness. Maximum sensitivity is used as a parameter for tuning in this method. Multiple sets of PID parameters are derived by using geometric relationship between maximum sensitivity and closed loop transfer function in nyquist's diagram. The robustness is different due to real part of dominant pole of closed loop transfer function with derived PID parameters, even if each values of maximum sensitivity are same. Then, the derived PID parameters are optimized by using maximum sensitivity and real part of dominant pole. Using this method, PID controllers are designed by only specifying maximum sensitivity.