Proportional-integral-derivative controller design for time-delay systems via stability region centroid

Design of proportional-integral-derivative (PID) controller with proportional, integral, and derivative gains given by , respectively, for time-delay systems is presented in this study. The centroid the convex stability region (CCSR) method - plane fixed used. PID design a have been extensively researched. Despite amenability CCSR to its application regard has not serious attention. was determined required were using method. Using gains, system closed loop unit step response all considered regions plotted on same axes. Based obtained results, different combinations can be implemented depending time domain performance measures (TDPMs) requirements. However, selection an appropriate combinations, requires compromise among any conflicting TDPMs.