Area

Controller gain and Delay margin

Existing method [9]

Proposed method

K_P

K_I

K_D

Delay margin (s)

K_P

K_I

Delay margin(s)

Theoretical

From simulation

1

0.0669

−0.0615

−0.0311

14

0.0509

−0.0702

21.115

21.1

2

0.0305

−0.0885

−0.0325

0.0627

−0.0635

3

0.0704

−0.0688

−0.0302

0.0425

−0.0455