PID tuning for integrating processes with sensitivity specification

PID control is widely used to control stable processes, however, its application to integrating processes is less common. In the paper, simple formulas are derived to tune the PID controller for integrating processes with time delay to meet sensitivity specification. With the proposed PID tuning method, we can obtain a loop transfer function with desired sensitivity specification, which guarantees both robustness and performance. Simulation examples are given to show the superior performance of the proposed tuning method to other methods