Analytically derived disturbance rejection‐based PID controller tuning for second‐order plus dead time plants

Abstract

AbstractThis letter proposes a proportional‐integral‐derivative (PID) design method for second‐order plus dead time models based on a desired closed‐loop transfer function for load disturbance changes. Also, tuning rules for single integrating first‐order plus dead time models are provided. Using a two‐degree‐of‐freedom control scheme, the design problem considers load disturbance rejection, robustness to model uncertainties, and setpoint tracking. Three examples are used to assess the performance of the proposed method. Finally, the results are compared to two popular PID control design methodologies, skogestad internal model control or skogestad IMC (SIMC) and improved SIMC (iSIMC).