A Simple PID Tuning Rule with Robustness Analysis for the Time Delay Process

A unified method has been proposed to obtain single PID tuning rule for different types of processes with enhanced disturbance rejection. It provides consistently better performance compared to several well-known methods for stable, integrating and unstable processes for the same degree of robustness. Based on the M-s-value tau(c) guideline is provided over a wide range of theta/tau ratios. An analysis has been performed for the uncertainty margin in the different process parameters for the robust controller design. It gives the guidelines of the M-s-value settings for the PI controller design based on the process parameters uncertainty. Furthermore, a guideline has been developed for the uncertainty margin in the different process parameters (k, tau and theta).