Section 5.1 H2 PID Controllers for the First-Order Plant When the PID controller is in the form of co=kc(+点) parameters are Terorg).To )e 0入 The optimal performance,approximately,is min llW(s)S(s)ll2 =V0 1-0s/2 4口，+@，4定4定90C Zhang.W.D..CRC Press.2011 Version 1.0 10/78Section 5.1 H2 PID Controllers for the First-Order Plant When the PID controller is in the form of C(s) = KC  1 + 1 TIs  TDs + 1 TF s + 1 parameters are TF = θλ 2(λ + θ) ,TI = τ (or θ 2 ),TD = θ 2 (or τ ),KC = TI K(λ + θ) The optimal performance, approximately, is min kW (s)S(s)k2 = θ 1 − θs/2 2 = √ θ Zhang, W.D., CRC Press, 2011 Version 1.0 10/78