Robust PI Controller for Load Disturbance Rejection and Setpoint Regulation

This paper presents an efficient numerical method to obtain optimal PI tuning formulae for first order plus dead time processes. The design method is based on optimal load disturbance rejection. In order to obtain a robust controller, a constraint on the maximum sensitivity is used. In addition, the design method deals with setpoint response using a two degree of freedom structure. In order to show the performance and effectiveness of the proposed tuning formulae, they are applied to two simulation examples