On Delay-Based Control of Low-Order LTI Systems: a Simple Alternative to PI/PID Controllers Under Noisy Measurements

In this paper the Design of Maximum Exponential Decay Rate (DMEDR) methodology is deployed to achieve easy-to-compute tuning rules for the Integral-Retarded (IR) and the Proportional-Integral-Retarded (PIR) controllers. The benefits of using these delay-based control laws are then investigated. To this end, the stabilization of first-order and second-order LTI systems is conducted and a performance evaluation, using an experimental setup, is carried out. Drawing on experimental data, the IR and the PIR controllers are presented here as preferable substitutes to benchmark PI and PID implementations under noisy measurements.