Quantitative performance design for integrating processes with time delay

This paper presents a new PID controller design method for integrating processes with time delay and time constant. First, the conditions that guarantee the stability of closed-loop system are investigated. Then an optimization method using H"~ performance criterion is developed for deriving the controller. The stability and performance of closed-loop system are analyzed. The relationship between the closed-loop frequency response and the corresponding time-domain response is also examined. Examples are given to illustrate the proposed method.

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