Abstract
This paper presents an optimal PID controller using a new loop-shaping procedure which is developed by pushing all two zeros formed by the PID controller closely to a larger pole of the second order process to improve the sensor noise attenuation in high frequency regions. And it formulates the optimization problem minimizing the gains of the PID controller in order to reduce the high gain problem and consider such time domain design specification as maximum overshoot as well as frequency domain design specification.
