Proportional Integral Retarded control of second order linear systems

This study presents a derivative-free control algorithm called Proportional Integral Retarded (PIR) controller, and its application to second order linear systems. Using a frequency domain analysis, the stability map of the closed loop system is constructed; moreover, the exploration of the regions where stability switches occur leads to a tuning strategy assigning a triple real dominant root that corresponds to the maximum achievable exponential decay. The paper also presents an analysis of the main PIR controller properties. Finally, the proposed control law is compared to a proportional integral derivative controller using an experimental platform.