Controller Tuning for Disturbance Rejection Associated with a Delayed Double Integrating Process, Part I: PD-PI Controller

This paper investigates using a PD-PI controller for disturbance rejection associated with delayed double integrating processes. The control is tuned using the MATLAB optimization toolbox and five different error-based objective functions for process time delay between 0.2 and 1 s. The more suitable objective function for disturbance rejection with PD-PI controller used with the delayed double integrating process is assigned and the effect of the process time delay on the performance of the control system in the time domain is shown. The unit step disturbance input time response of the control system has a maximum value less than 3.62, time of maximum time response less than 1.71 s and a settling time less than 26 s. The simulation results using the PD-PI controller are superior when compared with other disturbance rejection technique based on using a PID controller.