A PI-PD controller design for integrating processes

A model-based PI-PD controller design, which enables a tighter control for integrating processes because of more tuning parameters, is proposed. Several procedures for obtaining the parameters of the PI-PD controller are possible but one of the simplest approaches, which is used in this paper, is to employ ISTE standard forms as this enables the design to be completed using simple algebra. Also, an exact method for model extraction of some integrating processes which may or may not have a time delay is presented. The method is compared with several existing methods to control integrating processes and it is shown that the proposed method is superior to existing ones.