Modified optimal dominant poles placement tuning method (modpp) for integral process with large dead-time process with two degrees of freedom controllers

This paper describes the design of 2DOF controllers that are tuned by modified multiple optimal dominant poles tuning method (MODPP) for the first order process with long time delay. This process can be approximated to an integral plus time delay process. In case of plants with proportional characters that are often tuned from the point of view of servo control, the regulatory control is a trade-off. If plants have integral character, the trade-off tuning does not guarantee the quality for both servo and regulatory control. The use of two degrees of freedom(2DOF) controllers seem to be suitable in these servo and regulatory cases. For 2DOF controller, set point filter with proportional term and derivative term are used. The robustness of MODPP tuning controllers are verified by the gain and time delay disturbances for both positive and negative mismatch terms. The effectiveness of controller design are also verified by both set point and load disturbances.