Analytical robust tuning approach for Two-Degree-Of-Freedom PI/PID controllers

This paper's aim is to present a tuning approach for full Two-Degree-of-Freedom (2-DoF) PI and PID controllers for First-Order-Plus-Dead-Time (FOPDT) and Second-Order- Plus-Dead-Time (SOPDT) controlled processes. The tuning relations provide the value of the typical parameters for a PID controller plus the set-point weighting factor, being these relations driven by just one single design parameter to be selected by the user. This fact makes the approach easier to apply. The design procedure also considers the control-loop robustness by means of the maximum sensitivity requirements, allowing the designer to deal with the performance-robustness trade-off.