Analytical design of new two-degree-of-freedom controller for integrating processes

In this paper a new two-degree-of-freedom control structure is proposed for integrating processes with time delay. Its main feature is that the disturbance response is decoupled from the setpoint response. An optimal performance index is defined and analytical design procedures are developed for both setpoint loop and disturbance loop. The relationship between the closed loop frequency response and the corresponding controller parameters is examined by employing a widely used simulation example.