Coefficient diagram method: Difference between revisions

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in PID control. But it is sufficient to use the single design procedure in the CDM technique. This is an outstanding advantage.<ref>S.E. Hamamci, I. Kaya and D.P. Atherton, "''Smith predictor design by CDM''", Proceedings of the ECC’01 European Control Conference, Semina´rio de Vilar, Porto, Portugal, 2001.</ref>

4. It is particularly hard to design robust controllers realizing the desired performance propeftiesproperties for unstable, integrating and oscillatory processes having poles near the imaginary axis. It has been reported that successful designs can be achieved even in these cases by 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>

5. It is theoretically proven that CDM design is equivalent to LQ design with proper state augmentation. Thus, CDM can be considered an ‘‘improved LQG’’, because the order of the controller is smaller and weight selection rules are also given.<ref>S. Manabe, "''Analytical weight selection for LQ design''", Proceedings of the 8th Workshop on Astrodynamics and Flight Mechanics, Sagamihara, ISAS, 1998.</ref>