I-PD controller design based on analytical rules for stable processes with inverse response

Inverse response characteristic makes the control of a process more challenging. In this study, simple and analytical expressions have been obtained to evaluate optimum settings of I-PD controllers for controlling 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 leading to very adequate closed loop responses, have been exploited to obtain mentioned optimum settings. Simulation examples have been considered to for evaluating the effectiveness of obtained tuning rules.