Robust Tuning of PI and PID Controllers for Integrating Plants with Time Delay

The article is devoted to a new approach to the analysis of the robustness of the PI and PID controller tuning for integrating plants with time delay. Its main benefit is that it allows to quantitatively assess the robustness of a given controller tuning method in the frequency domain and in the domain of the relative controller adjustable parameters. The approach uses dimensionless complex variable which makes possible the generalization of the results and simplifies their interpretation. Therefore, controller tuning methods that do not provide sufficient robustness can be easily and objectively eliminated.