Robust-performance tuning of 2DoF PI/PID controllers for first- and Second-Order-Plus-Dead-Time models

The aim of the paper is to present tuning equations for Two-Degree-of-Freedom (2DoF) Proportional Integral (PI) and Proportional Integral Derivative (PID) controllers. These are based on a performance/robustness trade-off analysis with First- and Second-Order-Plus-Dead-Time (FOPDT, SOPDT) models. The Robust-Performance (RoPe) tuning equations obtained from the pursued analysis allow designing closed-loop control systems with a specified M_S robustness that at the same time have the maximum IAE performance allowed.