Extention of ILQ design method and its application to FRIT based I-PD controller tuning for linear system with time delay

A new configuration of ILQ servo system based on dynamic output feedback is presented together with its output feedback gain matrices by proper choice of a certain design parameter of the ILQ design method. Noticing its same feedback structure as that of I-PD servo system for the particular case of SISO systems with relative order two, this renewed ILQ design method is then applied to FRIT based I-PD controller tuning for a linear second order SISO system with time delay. A numerical design example is also shown to verify the usefulness of this tuning method.