Optimal Tuning of PID Controllers for First Order Plus Time Delay Models Using Dimensional Analysis

Using dimensional analysis and numerical optimisation techniques, an optimal method for tuning PID controllers for first order plus time delay systems is presented. Considering integral square error (ISE), integral absolute error (IAE) and integral time absolute error (ITAE) performance criteria, optimal equations for obtaining PID parameters are proposed. Simulation results show that the proposed method has a considerable superiority over conventional techniques. In addition, the closed loop system shows a robust performance in the face of model parameters uncertainty.