Optimal PID Controller Tuning for the Time Delayed Double Integrator

The paper discusses approaches and results achieved by the performance portrait method in optimal and robust tuning of proportional-integrative-derivative (PID) controllers for the double integrator plus dead time (DIPDT) models. It extends results achieved in tuning proportional-integrative (PI) controller for the integral plus dead time (IPDT) plant models and proportional-derivative (PD) controllers applied to DIPDT plant models. The analysis and optimal tuningby the performance portrait method are using performance measures expressing deviations from piece-wise monotonic ideal output and input shapes. Detail analysis of different design aspects is necessary before starting time-consuming performance portrait generation.