Abstract
The paper deals with the problem of calculation of the integral from the square of the dynamic error for systems with time-delay. The solution of this problem has been obtained in the form of analytic formulae. This enables us to obtain a relationship between the optimal values of the parameters of the controller for example PID and the parameters of the object from the requirements that the above integral attains its minimal value. The presented results and method are valid for the object described by n-th differential equation with one retarded argument. The controller may also be described in general by a differential equation of any order. It is also possible to take into account the explicity known initial function.
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