A Potential Use of the Balanced Tuning Method for the Control of a Class of Time-Delay Systems

This preliminary study aims to verify and present a possible utilization of one of modern proportional-integral-derivative (PID) controller tuning approaches - the balanced (equalization) method - applied to a selected class of stable systems with delays. We first use an elegant algebraic compensation method to get the controller structure of an infinite dimension. It is, moreover, shown that this class of controllers matches the famous Smith predictor. Then, finite-dimensional controllers are derived via a simple approximation. The balanced tuning method is eventually applied to these reduced PID control laws. Since such a tuning does not meet a priori requirements, a modified controller parameters' setting fixing it is used to get comparative results. Moreover, these settings are confronted by simulations with another well-established method and also to the direct use of a PID controller without delay compensation. Selected perturbation serves to test and verify the robustness of designed controllers.