Computation of stabilizing lag/lead controller parameters.
The paper focuses on the design of lag/lead controllers for scalar linear plants. Similarly to PID controllers, designing lag/lead controllers amounts to finding three real scalars such that a polynomial whose coefficients depend multilinearly on these scalars has its roots in the open left half-plane. The authors are willing to extend previous results of Ho, Datta and Bhattacharyya, first published in 1995, on PID controller design. These results use the Hermite-Biehler theorem. For PID design, the main achievement of Ho, Datta and Bhattacharyya was to show that, for a fixed proportional gain, the set of stabilizing integral and derivative gains is a polytope that can be built easily. The design then boiled down to sweeping over only one parameter, instead of three. Deceptively, the extension proposed in the paper is missing an explicit characterization of stabilization of lag/lead controller parameters which overcomes sweeping over the three parameters.
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