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

R. Vilanova, V. M. Alfaro, O. Arrieta

Research output: Contribution to journalArticleResearchpeer-review

8 Citations (Scopus)


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.
Original languageEnglish
Pages (from-to)204-214
JournalEngineering Letters
Issue number3
Publication statusPublished - 24 Aug 2011


  • PID control
  • Process Control
  • Robustness
  • Two-Degrees-of-Freedom


Dive into the research topics of 'Analytical robust tuning approach for Two-Degree-Of-Freedom PI/PID controllers'. Together they form a unique fingerprint.

Cite this