PI controller tuning for robust performance

This paper presents a new method of PI controller tuning and its results for two important practical cases: first-order delay with dead-time and integrating system with dead-time. The new method deals with plant uncertainty explicitly, thus providing proportional gain and reset time combinations that perform well not only for nominal models but also for all the models described by the model parameter variations. The new method also clarifies the peculiarity of tuning integrating systems