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Novel Tuning Strategy for Two-Degree-Of-Freedom PI Controllers

Abstract In this paper, a new tuning procedure for PI controllers in Two-Degree-of-Freedom (2DOF) structure is proposed. In design procedure, First Order plus Dead Time (FOPDT) model is used. The aim is to have good set point tracking and disturbance rejection and also maximum robustness to model uncertainties. The tuning strategy is based on using analytical rules and some conceptual rules about closed loop poles and also an exhaustive search. Simulation results demonstrate the effectiveness and validity of proposed method in coping with conflicting design objectives for a wide variety of processes including minimum phase and non-minimum phase and also integrating processes.