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PI control of first-order lag plus time-delay plants: root locus design for optimal stability

Commissioners of Irish Lights, Harbour Road, Dun Laoghaire, Co. Dublin, Ireland, b.cogan{at}cil.ie

Annraoi M. de Paor

Department of Electronic and Electrical Engineering, National University of Ireland, Belfield, Dublin 4, Ireland

Anthony Quinn

Department of Electronic and Electrical Engineering, University of Dublin, Trinity College, Dublin 2, Ireland

We present a procedure for the design of a PI controller for a general first-order lag plus time-delay plant. We derive two equations that allow a designer to calculate the PI controller parameters using only the plant parameters. The central idea of this design procedure is to use the root locus method to select controller parameters that put the system’s rightmost eigenvalue as far to the left as possible in the (, ) plane. When the system is operating at this point, it is said to be operating at a point of optimum stability in the root locus sense.

Key Words: FOLPD process • optimum stability • PI controller • root locus • time delay

Transactions of the Institute of Measurement and Control, Vol. 31, No. 5, 365-379 (2009)
DOI: 10.1177/0142331208095019


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