Stable PID Tuning for Integrating Processes using sensitive function $M_s$

적분공정을 위한 민감도 함수 $M_s$를 이용한 안정된 PID 동조

PID control is windely used to control stable processes, however, its application to integrating processes is less common. In this paper, we proposed a simple PID controller tuning method for integrating processes with time delay to meet a sensitive function $M_s$. With the proposed PID tuning method, we can obtain stable integrating processes using PD controller in inner feedback loop and a loop transfer function with desired stable specification. This guarantees both robustness and performance. Simulation examples are given to show the good performance of the proposed tuning method to other methods.