IMC-PID controllers for first-order plus dead-time processes: a simple design with guaranteed phase margin

In this paper we present simple and effective tuning formulas for PID controllers with guaranteed phase margin when they are applied to first-order plus dead-time processes. We have discovered that for our controllers and some controllers suggested by our researchers, the integral gain alone could be used for the purpose of achieving set-point response and disturbance rejection tradeoff. The study has also shown that, while the tradeoff between set-point response and disturbance rejection is limited by normalised dead-time, the set-point response performance is solely limited by the dead-time of the FOPDT precess.