Time delay compensation by A PID controller

Control of time delay processes is considered from a new view point. In this view point, time delay is considered as infinite RHP zeros that are transferred to the LHP zeros by adding a proper transfer function that is chosen based on dominant gain concept. As a result, the non minimum phase behavior of the original open loop changes to minimum phase behavior and all of the RHP zeros are removed from the open loop and the control loop performance is improved.