Abstract
We present a procedure for the design of a PI controller for a general first-order lag plus time-delay plant. We derive two equations that allow a designer to calculate the PI controller parameters using only the plant parameters. The central idea of this design procedure is to use the root locus method to select controller parameters that put the system’s rightmost eigenvalue as far to the left as possible in the (σ, ω) plane. When the system is operating at this point, it is said to be operating at a point of optimum stability in the root locus sense.
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