PID Tuning Method for Integrating Processes Having Time Delay and Inverse Response

Abstract

In this paper, a PID tuning method for integrating processes having time delay and inverse response is presented. The method is based on the stability boundary locus method and geometrical center (WGC) approach. The systematic procedure of the method is first to obtain the stability region in the PI controller parameters (proportional gain: kp and integral gain: ki) plane according to derivative gain (kd) using the stability boundary locus method and then to find the weighted geometrical center point of this region. The WGC controllers are obtained by using different values of kd. Simulation examples have demonstrated that PID controller designed by using the proposed method gives good results.