PI+CI tuning for integrating plus deadtime systems

The PI+CI is a reset compensator that has been shown to be effective in a number of practical applications. In this work, a simple PI+CI tuning method for integrating systems with time delay is proposed. It is a direct method, with only a tuning parameter to balance between closed-loop robustness and performance. A tuning rule for the reset ratio parameter of the PI+CI compensator is proposed in order to improve the disturbance rejection. Finally, the proposed compensator is compared with some well-tuned PI compensators.