Novel design of PID controllers for minimum and non-minimum phase time delay processes for enhanced performance

A new technique is proposed for the design of PID controllers for minimum and non-minimum phase (NMP) stable first-order and second-order processes. The idea is to make the open-loop transfer function model equal to an integrating model with which the closed loop consists of first order dynamics. The resulting controller settings are functions of the tuning factor delta and process model parameters. The tuning parameter is selected based on the stability and robustness margins. Different case studies for simulation and experimental implementation are considered and the closed loop responses are examined. The proposed technique gives enhanced closed-loop performance for both set point and regulatory problems compared to the current techniques in both perfect and perturbed model conditions. Performance metrics such as integral error, control variation, stability margins, and sensitivity peak are compared and it is noted that the enhanced responses are achieved with the proposed simple method, which has straightforward simple analytical relations for design of the controller.