Abstract
PI, PID and PIDD2 controllers are compared for higher order processes. Tuning rules with robustness constraints are first proposed in this paper for PI, PID and PIDD2 controllers. Then the tuned rules are applied to the benchmark higher order processes and a three-tank system. It is shown that higher order derivatives can improve the control performance for processes with small time delays, while it is of no significant performance improvement for processes with large delays.
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