Ho PID Controllers for Stable Plants 14.1 Traditional Design Methods 24.2 H PID Controllers for the First-Order Plant 34.3 Hoo PID controller and the Smith Predictor 4.4 Quantitative Performance and Robustness 54.5 H PID Controllers for the Second-Order Plant 64.6 All Stabilizing PID Controllers for Stable Plants 4口，4@，4定4定0C Zhang.W.D..CRC Press.2011 Version 1.0 2/71H∞ PID Controllers for Stable Plants 1 4.1 Traditional Design Methods 2 4.2 H∞ PID Controllers for the First-Order Plant 3 4.3 H∞ PID controller and the Smith Predictor 4 4.4 Quantitative Performance and Robustness 5 4.5 H∞ PID Controllers for the Second-Order Plant 6 4.6 All Stabilizing PID Controllers for Stable Plants Zhang, W.D., CRC Press, 2011 Version 1.0 2/71