Optimum I-PD Controller Design for Integrating Processes with Inverse Response and Time Delay

Processes exhibiting an initial response in opposite to the final steady-state are known as inverse response processes which make the control more difficult. In the literature, usually, well known tree term controllers, that is Proportional-Integral-Derivative (PID) controllers, are used to control such processes. This paper introduces optimal tuning rules for I-PD controllers, which has been shown to perform better than PID controllers, for controlling integrating processes with inverse response. Integral performance criteria were applied to obtain those mentioned tuning rules to be used for calculating the I-PD controller tuning parameters. Effectiveness of obtained tuning rules has been shown by simulation examples.