A H infinity design method of PID controller for second-order processes with integrator and time delay

This paper proposes a new analytical design method of PID controller for industrial and chemical second-order integrating processes with time delay by using robust H infinity optimal criterion. The robust stability and performance of the closed-loop system are analyzed and corresponding sufficient and necessary conditions are provided. Further study is focused on the quantitative relationship between the time domain system response specification and the control parameters. The tuning rule of thumb for the control parameters is provided. Simulation tests demonstrate the advantage of the proposed method for the class of processes.