Balkan Journal of Electrical and Computer Engineering 2147-284X 2147-284X MUSA YILMAZ 10.17694/bajece.746352 Electrical Engineering Elektrik Mühendisliği Optimal and Analytical Tuning of I-PD Controllers for Controlling Stable Processes with Inverse Response https://orcid.org/0000-0002-8393-1358 Kaya İbrahim Dicle Üniversitesi 07 30 2020 8 3 260 265 06 01 2020 07 30 2020 Copyright © 2013, Balkan Journal of Electrical and Computer Engineering 2013 Balkan Journal of Electrical and Computer Engineering

A positive zero in the transfer function of a process causes an initial response in opposite to the final steady-state. This characteristic is known as inverse response and makes the control more challenging. In the literature, usually, well known tree term controllers, that is, Proportional-Integral-Derivative (PID) controllers, are used to control such processes. In this paper, simple analytical expressions have been derived to find optimum tuning parameters of I-PD controllers to control open loop stable processes with time delay and a positive zero. Time weighted versions of Integral of Squared Error (ISE) criterion, namely ISTE, IST2E and IST3E criteria, which have been proved to be resulting in quite satisfactory closed loop responses, have been used to derive optimum tuning rules. Effectiveness of obtained tuning rules has been shown by simulation examples.

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