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This paper will discuss the compensation of first order lag plus time delay (FOLPD) processes using PI and PID controllers whose parameters are specified using appropriate tuning rules. The gain margin, phase margin and maximum sensitivity of the compensated system as the ratio of time delay to time constant of the process varies, are used as ways of judging the performance and robustness of the system.
O'Dwyer, Aidan : Performance and robustness issues in the compensation of FOLPD processes with PI and PID controllers. Proceedings of the Irish Signals and Systems Conference, pp. 227-234, Dublin Institute of Technology, Kevin St., Dublin, June, 1998.