Robust Design of Tilted Integral Derivative Controller for Non-integer Order Processes with Time Delay

This paper proposes the design of a tilted integral derivative controller for non-integer order plus time delay processes. The gains of the TID controller are designed based on the frequency domain approach by specifying frequency domain parameters. The proposed method provides flexibility to design the controller based on application requirements by selecting frequency-domain parameters. To analyze the efficacy of the proposed methodology, step response characteristics and different performance indices are considered. The proposed method is carried out on various examples under variation of tilt component and compared with the various approaches available in the literature. Load disturbance analysis is performed on controllers designed by proposed, existing methods to analyze the sensitivity. Also, the offered performance is validated on a real-time temperature control setup, and its performance is compared with different techniques under various situations.