Synthesis of robust PID controllers for time delay systems

Tuning rules are frequently used to choose the parameters of PID controllers. However, they are often based on heuristics, are limited to systems of a certain class, use dead time approximations and ignore parameter uncertainties in the modeled system. This work develops a systematic, universal and transparent method to design a robust PID controller based on the parameter space approach, which is extended to cope with quasipolynomials.