Integral-Proportional Derivative (I-PD) Controller Tuning for Pure Integrating Processes with Time Delay

An Integral-Proportional Derivative (I-PD) controller is designed for pure integrating plus time delay processes. Simple and analytical rules that result in optimal I-PD controller parameters by minimizing a time weighted integral performance criterion (an error function) have been obtained. Integral of squared time(3) error ((ISTE)-E-3) performance index is used as the integral performance criterion. For minimization of the (ISTE)-E-3 criterion particle swarm optimization (PSO) technique is used. Optimal tuning rules are achieved by making use of curve fitting approach. The derived tuning rules are in terms of process parameters: gain and time delay. Effectiveness of the suggested method is shown by simulation examples. Also, comparisons are made to demonstrate the benefits of the suggested approach over existing PID and I-PD design methods.