Tuning a PID Controller in a System with a Delayed Second-Order Object

The possibility of using different methods of tuning a proportional-integral-derivative controller in a system with a transport-delayed second-order object is considered. The transfer function of the object and its parameters are determined by the experimentally obtained transient response, the quality indicators of the transient response are evaluated, and the research problem is formulated. Since the control object has a significant delay, we plan to explore several methods of tuning a PID controller in order to select the most appropriate method. The Ziegler-Nichols method (frequency method), Chien-Hrones-Reswick method, Kuhn's method (fast tuning), Skogestad's method, and numerical optimization method with different cost functions are studied. The synthesized systems are simulated using MATLAB Simulink and VisSim integrated software. Graphs of transient responses obtained using different methods are compared. It is shown that the numerical optimization method makes it possible to provide the best quality of the transient response at the output of a closed system among the studied methods.