Tuning of PI compensators for integrating systems with large parametric uncertainty

A simple PI tuning rule for integrating plus dead time (IPDT) systems, with large parametric uncertainty, is developed. In order to deal with parametric uncertainty a family of plants is considered. The design specifications are upper bounds on the sensitivity and the complementary sensitivity functions, that must be satisfied for any element belonging to the plants set. When applied to a system without uncertainty (or with no significant uncertainty) the well-known SIMC tuning rule is recovered. To conclude, several examples are analyzed to illustrate the proposed tuning rule.