Control of integral processes with dead time. Part 3: Deadbeat disturbance response

A deadbeat disturbance response of integral processes with dead-time is obtained by intentionally using two adjustable delay elements in the controller. These delays are tuning parameters of the controller. The shorter delay is optimally determined to minimize the robustness indicator (equivalently, to maximize the allowable uncertainty bound) while the longer delay (i.e., the deadbeat time itself) is determined with compromise of robustness. An example with comparison to conventional control schemes has been given to show the effectiveness of the proposed controller. Some interesting topics, such as input shaping techniques and dual-locus diagrams, are involved in this note.

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