Optimal tuning for a double integrator plus dead time

This paper deals with an optimal disturbance observer (DO) based filtered PID (DO-FPID) controller design based on the performance portrait method solved for a PD controller + double integrator + dead time loop configuration. By virtue of an equivalence of a dead time and n-th order filters used in DO-FPID control, the derived results may be used in a broad range of tasks originating in a control of plants with a dominant 2nd order dynamics, which will be illustrated by a noise attenuation motivated design for a positional DC motor control.