# Delay Robustness of PID Control of Second-Order Systems: Pseudoconcavity, Exact Delay Margin, and Performance Tradeoff

> Research article (IEEE Transactions on Automatic Control, 2021) · cited 42× · AI/ML

**Wikidata**: [openalex:W3132889232](https://www.wikidata.org/wiki/openalex:W3132889232)  
**Source**: https://4ort.xyz/entity/delay-robustness-of-pid-control-of-second-order-systems-pseudoconcavity-exact-delay-margin-and-performance-tradeoff