Robust tuning of the simplest dead time compensators

This paper rediscovers and modifies the oldest and the simplest dead-time compensator (DTC) introduced originally by [1] and shows new possibility for its robust tuning by the performance portrait method. This method comprising computer based analysis, compressed characterization and visualization of the closed loop properties achieved by evaluating set of performance measures over chosen grid of loop parameters with an optimization based on sweeping all possible stored data may be successfully used for an optimal nominal or robust tuning [2]-[4] based either on the known plant model with parameters taking values upon uncertainty intervals, or directly on measured experimental data [5]. In order to enable an easy comparing with other possible solutions new robustness characteristics will be derived showing how a model uncertainty influences decrease of the loop performance.