Abstract
Some analytical results concerning PI controller tuning based on integrator plus time delay models are worked out and presented. A method for obtaining PI controller parameters, Kp = k , and, Ti = , which ensures a given prescribed maximum time delay error, d max, to time delay, , ratio parameter = d max , is presented. The corner stone in this method, is a method product parameter, c = . Analytical relations between the PI controller parameters, Ti, and, Kp, and the time delay error parameter, , is presented, and we propose the setting, = c ( + 1), and, = a
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