Section 4.2 Hc PID Controllers for the First-Order Plant 4.2 Ho PID Controllers for the First-Order Plant New Design Method Traditional design method:The control structure is first fixed to be a PlD and then the parameters are determined by empirical tuning rules New design method:An optimal performance index is first defined,and then both the PlD control structure and parameters are analytically derived Figure:Unity feedback control loop 4口+@4定4定0C Zhang.W.D..CRC Press.2011 Version 1.0 8/71Section 4.2 H∞ PID Controllers for the First-Order Plant 4.2 H∞ PID Controllers for the First-Order Plant New Design Method Traditional design method: The control structure is first fixed to be a PID and then the parameters are determined by empirical tuning rules New design method: An optimal performance index is first defined, and then both the PID control structure and parameters are analytically derived Figure: Unity feedback control loop Zhang, W.D., CRC Press, 2011 Version 1.0 8/71