TEACHING CONTROL WITH FIRST ORDER TIME DELAY MODEL AND PI CONTROLLERS

This paper presents a Matlab GUI to teach basic control concepts based on a set of PI tuning rules for stable and unstable first order lag plus time delay models. The GUI shows the stabilizing region in the KI-KP parameter space and the control parameters obtained when applying a set of tuning rules, as well as the temporal response and the frequency response. The tool is prepared to work with two models, the nominal model and the simulation model, providing important information about robustness, the validity range of the tuning formulae and the performance that can be achieved with each one. Copyright © 2009 IFAC.