PID control design for first-order delay systems via MID pole placement: Performance vs. robustness

The PID control is favored in controlling industrial processes for its ease of implementation. In this paper we present an analytical study, with aim at stability robustness, tracking performance, and pole placement first-order unstable plants under control. We employ a multiplicity-induced dominancy (MID) strategy to design tune controller gains, which shown possess desirable properties that ensure specified decay rate the closed-loop response robustness system spite variations delay parameter. also study tradeoff between performance controllers. show constraint steady-state tracking, maximal range can be computed by solving unimodal pseudo-concave optimization problem.