A New Self-Tuning of PID Regulators Based on Phase and Amplitude Margin Specifications
基于给定的相角裕度和幅值裕度的PID参数自整定新方法

In this paper, based on specified phase and amplitude margins (SPAM), a new method for tuning of PID regulators is proposed, by which all parameters of PID regulators are tuned independently. Simulation results show that SPAM method has remarkably better performance than other existing methods.