Unified approach to digital and analog 2DOF PI controller tuning for integrating plants

The paper is devoted to the unified approach to the tuning of the digital and analog PI controllers with two-degrees-of-freedom by the multiple dominant pole method for the integrating plants with a time delay on the basis of D-transform. The approach is fully analytical and it enables tuning so that the servo and regulatory responses are non-oscillatory without overshoots. The uses are shown in the example.