I-PD Controller Design based on Robust Viewpoint

In industry, the class of integrating process is quite popular, such as: the boiler drum, the storage tank, the Pumped Tank, the Horizontal Tank, Stirred Tank, etc. When synthesizing the controller, these processes are often modeled as the First Order Plus Dead Time (FOPDT) integrating processes. The most widely used controllers in the control of these processes are Proportional-Integral-Derivative (PID) controllers. One of the modifications of the PID controller is IPD controller, which can be used for eliminating the proportional and derivative kick occurs during set point change. In this study, the PD controller is synthesized by robust viewpoint, then add the integral component to convert into the I-PD control structure. Simulation examples have been done on Matlab Simulink software. Comparisons with existing I-PD design methods to control integrating processes have been supplied to illustrate the closed loop performance of the proposed I-PD design approach.