Constrained pole assignment control for a 2nd order integral system

The paper brings analytical design of a constrained PD controller for the second order integral plants focused on achieving the possibly best tracking dynamics considering the control signal saturation. The linear pole assignment control and relay minimum time control are included as its limit solutions. The degree of freedom existing in choice of a distance definition for evaluating deviation of the operating point from a required reference braking trajectory is proposed to be used to achieve a required performance in control of time-delayed systems.