Optimal integral-proportional derivative controller design for input load disturbance rejection of time delay integrating processes

One of the commonly encountered type of processes in industry is integrating systems. For this type of processes, tuning formulas to calculate optimally integral-proportional derivative controller parameters to reject input load disturbance, which is an important problem in process control, are presented here. Simple tuning formulas are provided to set the integral-proportional derivative controller parameters for rejection of input load disturbance of integrating plus first order plus dead time and double integrating plus first order plus dead time processes. Time-weighted integral performance indices are exploited to derive optimal formulas for input load disturbance rejection. Achieved formulas for integral-proportional derivative tuning contain only process transfer function parameters. To show benefits and usefulness of the suggested design approach, simulation examples are imparted. Furthermore, comparisons to some available design approaches are given to reveal the superior performance of the suggested design method. In addition, proposed design method is experimentally validated by controlling a cart position.