Integral-Proportional Derivative tuning for optimal closed loop responses to control integrating processes with inverse response

This paper provides optimum analytical tuning rules to determine tuning parameters of Integral-Proportional Derivative (I-PD) controllers for controlling integrating processes with inverse response and time delay. Integral performance criteria, such as ISTE (integral of squared time error), (ISTE)-E-2 (integral of squared time(2)error) and (ISTE)-E-3 (integral of squared time(3)error), are used to derive mentioned optimum tuning rules. The effectiveness of the proposed I-PD controller design method are shown by simulation examples. Comparisons with design methods existing in the literature, in terms of set point tracking and disturbance rejection capability, are performed to see the use of the proposed I-PD controller. Some performance measures are also given to evaluate the closed loop performances. It has been observed that the proposed I-PD controller has some important advantages over design methods used for comparison.