Integral Action Controllers for Systems with Time Delays

Abstract

Summary. Consider a stabilizing controller C1 for a given plant P . If C1 and P do not have any zeros at the origin, then one can use a cascade connected PI (proportional plus integral) controller Cpi with C1 and keep the feedback system stable. In this work we examine the allowable range of the integral action gain in Cpi, and discuss how C1 should be chosen to maximize this range for systems with time delays.

Low order controller design for systems with time delays

“…The tuning and internal model control techniques used in process control systems generally apply to delay systems [12]. Infinite dimensional integral action controllers have been designed in [11] to maximize the allowable controller gain using the robust control techniques for infinite dimensional systems [5]. For MIMO stable plants subject to inputoutput delays, proportional-derivative (PD) and proportionalintegral-derivative (PID) controllers were designed in [8] for plants that have no more than two unstable poles close Department to the origin.…”