Model reference based robust tuning of five-parameter 2DoF PID controllers for first-order plus dead-time models

The aim of this paper is to present a robust tuning method for two-degree-of-freedom proportional integral derivative controllers for first-order plus dead-time controlled processes. A two-degree-of-freedom Ideal PID with filter control algorithm is selected and its complete set of parameters (included the filter time constant) is obtained. This is based on the use of a model reference optimization procedure with servo and regulatory control closed-loop target transfer functions. The designer is allowed to select a maximum sensitivity M_S in the range from 2.0 to 1.4.