Practical Guidelines for Tuning PD and PI Delay-Based Controllers

Abstract

This paper focuses on the design of two different delay-based control schemes. These two low-complexity controllers are proposed as alternatives for the classical PD and PI controllers. More precisely, first, we study a PD controller using the Euler approach for approximating the derivative action. Second, we analyze the implications of imposing a delay in the error signal on the integral action of the PI controller for closed-loop response manipulation purposes. Our main contribution lies in proposing some practical guidelines for the tuning of these delayed control schemes such that the closed-loop system is stable. To this end, the criteria developed in this work makes use of the well-known D—partition method, with the difference that we propose a simple criterion to detect stabilizing regions, avoiding in this way the crossing direction analysis. Several numerical examples illustrate the effectiveness of the proposed approach.