A wide pulse response procedure for tuning of PD/PID controller for integrating processes

A simple wide pulse response procedure for tuning of PD/PID controller for integrating processes is proposed. It is based on the integrating first-order plus dead-time (IFOPDT) model, obtained from the wide step response by measuring the time to go to ten and sixty three percent of the maximum after wide pulse excitation of process. An adjustable parameter is provided to obtain adaptation of the closed-loop system performance and robustness. A comparison with tuned PIDs, done by simulations, and the experimental results obtained on a real two tank system, confirm that high performance and robustness are obtained.