CALCULATE PID co-efficients and PID optimization reasoning question ?

HI,

Help me in finding the co-rffiecients ....?

Write A & B as a symmetric matrices

find A & B ...using matrix pencil ?

The condition ..

1 <= (1 Kp Ki Kd)*A*(1
Kp
Ki
Kd)

0 <= (1 Kp Ki Kd) * B * (1
Kp
Ki
Kd )

A & B are 4x4 matrices ...? need matlab code also ...?


The seecond question ...

In a geometric programming, Optimization of PID controller is mostly done in the frequency domain rather in time domain ....Expalin ...?

thanks in advance