Deadbeat disturbance response of integral processes with dead-time

Deadbeat disturbance response of the integral process with dead-time is obtained with two adjustable delay elements intentionally used in the controller. They are tuning parameters rather than fixed ones. The shorter one is optimally determined to minimize the robustness indicator and the longer one, i.e., the deadbeat time itself, is determined with compromise of robustness. An example is given to show the effectiveness, in which the stability of the controller is analyzed with a dual-locus diagram