Controller Tuning for Disturbance Rejection Associated with Delayed Double Integrating Processes, Part V: 2DOF Controller

The objective of the paper is to investigate the possibility of using a 2DOF controller in disturbance rejection associated with delayed double integrating processes. The effect of time delay of the process in a range between 0.1 and 0.9 seconds is considered. The controller is tuned using MATLAB optimization toolbox with three forms of the objective function in terms of the error between the step time response of the closed-loop control system and the desired zero value. Using the proposed controller with the fractional delayed double integrating process indicates the robustness of the controller in the time delay range used. The 2DOF controller is able to complete with the PID plus first-order lag controller , but it can not compete with other types of controllers such as the I-PD and PD-PI controllers