Filter choice for an effective measurement noise attenuation in PI and PID controllers

This paper shows by simulation and by a relative total variance performance measures that in control of lag dominated first order time delayed plants appropriately filtered PID control may significantly increase the loop performance with respect to filtered PI control. By analyzing the impact of higher order low pass filters designed by a modified multiple real dominant pole approach it shows that in the case of filtered PI control it may be beneficial to use a filter order n > 1. For the PID control the most interesting performance may be achieved for n > 2.