Simulation tool for time sub-optimal control of time-delayed systems with input saturation

The paper describes a simulation tool that compares different time sub-optimal controllers applied to the second order time-delayed systems with integral character. The controlled system is modeled by two integrators with a time-delay. Depending on the desired closed loop poles various time sub-optimal controllers are derived. They represent hybrid solutions with dynamics ranging from the relay minimum time systems to linear pole assignment ones. In contrast to the other known solutions the controllers derived are appropriate also for extremely fast application and easy to tune by a procedure that generalizes the well-known method by Ziegler and Nichols. The simulation tool designed in the Matlab/Simulink environment enables an easy-to-use controller design changing their parameters and applying them to the controlled system. By being easily accessible via Internet it is excellent to carry on comparison of applied methods.