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This paper presents new tuning rules for PID controllers based on loop shaping. Previous research has shown that maximization of the integral gain subject to constraints on the maximum sensitivity is an efficient design method for PI controllers, but that additional constraints are needed for design of PID controllers. In this paper, an additional constraint is obtained by restricting the ratio between integral time and derivative time. It is shown that this gives a numerically efficient method that gives good results for a large class of processes.

Abstract-The HSPA Evolution will during the next decade be a key radio access technology for a cost-effective provisioning of mobile broadband services. In addition to the continuous improvements of WCDMA/HSPA in terms of spectral efficiency and latency, "multi-carrier operation" (or "carrier aggregation") for individual connections is now introduced. This paper presents the evolution of Multi-Carrier HSPA, discusses implications on network architecture & user equipment, and evaluates the achievable system performance (with focus on downlink). It is concluded that Multi-Carrier HSPA can be implemented at a low incremental cost; both in the radio access network, which already supports multiple carriers, and in terminals (due to synergies with LTE). Numerical results further show that achievable data rates of a Multi-Carrier HSPA system increase proportional to the number of carriers; in terms of peak physical layer data rates as well as (for bursty packet data) average user throughput. Thus, Multi-Carrier HSPA will be an attractive means for operators to provide higher data rates and decrease the production cost of mobile broadband access.

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