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It is usually required that the controller for a given plant should be designed under some practical limitations.
The controller is desired to be of minimum degree, [[minimum phase]] (if possible) and stable. It must have enough bandwidth and power rating limitations. If the controller is designed without considering these limitations, the robustness property will be very poor, even though the stability and [[time response]] requirements are met. CDM controllers designed while considering all these problems is of the lowest degree, has a convenient bandwidth and results with a unit step time response without an overshoot. These properties guarantee the robustness, the sufficient [[damping]] of the disturbance effects and the low economic property.<ref>S. Manabe and Y.C. Kim, "''Recent development of coefficient diagram method''", Proceedings of the ASSC’2000 3rd Asian Control Conference, Shanghai, 2000.</ref>
Although the main principles of CDM have been known since the 1950s,<ref>D. Graham and R.C. Lathrop, "''The synthesis of optimum transient response: criteria and standard forms''", AIEE Trans., vol:72, pp.273–288, 1953.</ref><ref>P. Naslin, ''Essentials of optimal control'', Boston Technical Publishers, Cambridge, MA, 1969.</ref><ref>A.V. Lipatov and N. Sokolov, "''Some sufficient conditions for stability and instability of continuous linear stationary systems''", Automat. Remote Control, vol:39, pp.1285–1291, 1979.</ref> the first systematic method was proposed by [[Shunji Manabe]].<ref>Y.C. Kim and S. Manabe, "''Introduction to coefficient diagram method''" Proceedings of the SSSC’01, Prague, 2001.</ref> He developed a new method that easily builds a target [[characteristic polynomial]] to meet the desired time response. CDM is an algebraic approach combining classical and modern control theories and uses polynomial representation in the mathematical expression. The advantages of the classical and modern control techniques are integrated with the basic principles of this method, which is derived by making use of the previous experience and knowledge of the controller design. Thus, an efficient and fertile control method has appeared as a tool with which control systems can be designed without needing much experience and without confronting many problems.
Many control systems have been designed successfully using CDM.<ref>S. Manabe, "''A low cost inverted pendulum system for control system education''", The 3rd IFAC Symposium on advances in Control Education, Tokyo, 1994.</ref><ref>S.E. Hamamci, M. Koksal and S. Manabe, "''On the control of some nonlinear systems with the coefficient diagram method''", Proceedings of the 4th Asian Control Conference, Singapore, 2002.</ref> It is very easy to design a controller under the conditions of stability, [[time ___domain]] performance and robustness. The close relations between these conditions and coefficients of the characteristic polynomial can be simply determined. This means that CDM is effective not only for control system design but also for controller parameters tuning.
==See also==
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