Computation of All Stabilizing PID Gain for Second-Order Delay System

Figure 1

Representation of the curves of 𝑓(𝑧) and of 𝑔(𝑧) (𝐾=𝐿=𝑎₁=1, 𝑎₀=2, 𝐾_𝑝=1.3, and 𝐾_𝑢=1.5884) (Case: 𝐾_𝑝<𝐾_𝑢).