This paper concerns the improvement on Proportional-Integration-Derivative (PID) control for standard second-order plus time-delay systems (SOPTD). To achieve higher tracking precision and stronger disturbance rejection, a PID type-ii and type-iii controlloops design method based on the combination of the linear quadratic regulator (LQR) and dominant pole configuration technology is proposed in this paper. The PID type-ii control loop is capable of achieving perfect tracking of step and ramp reference signals with zero steady-state position and velocity error. The PID type-iii control loop is capable of achieving perfect tracking of step, ramp and parabolic reference signals with zero steady-state position, velocity and acceleration error. The effectiveness of the proposed PID type-ii and type-iii controller parameters tuning rules has been demonstrated via simulation of over-damped, critical-damped and under-damped systems. To be specific, compared with the PID type-i control loop, rise time, settling time and disturbance rejection property of the system have been significantly improved while realizing faster reference signal tracking. Finally, the effects of non-dominant pole on the stability and robustness of PID type-ii and PID type-iii closed loop systems have also been discussed.
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