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This paper will discuss the design of PI and PID controller tuning rules to compensate processes with delay, that are modelled in a number of ways. The rules allow the achievement of constant gain and phase margins as the delay varies.
O'Dwyer, Aidan : PI and PID controller tuning rule design for processes with delay, to achieve constant gain and phase margins for all values of delay. Proceedings of the Irish Signals and Systems Conference, pp. 96-101, National University of Ireland, Maynooth, June, 2001.