Controller Design Based on the 1st Order Constrained Dynamics

The paper presents polynomial controller design giving the 1st order constrained closed loop dynamics. As particular examples, constrained PID and PI-dead time (predictive) controllers are derived. These examples characterize two most important design features - compensation of just some of parasitic time delays that enables to increase the reliability of the controller tuning and, secondly, derivation of reasonably improved dead-time (predictive) controller with fully adjustable set point and disturbance response dynamics applicable to both the marginally stable and unstable systems