PI tuning for integrating first order plus time delay processes

This article compares the closed loop performances that can be achieved by the reported PI tuning methods for integrating first order plus time delay process models. An attempt has been made to help the user in selecting the tuning method for servo and regulatory control purposes. The measures used for comparison are the integral of squared error in the controlled variable and the total variation of the manipulated variable. The maximum sensitivity is used to estimate the robustness of the control system.