Identification of integrating processes with time delay

A set of methods for identification of continuous-time transfer function models for integrating processes with time delay is proposed. The step, piecewise constant and piecewise linear inputs are considered which indeed cover most of the input signals commonly used in industries. For all of the three types of input signals, estimation equations to simultaneously obtain model parameters and the time delay are derived. The final parameter estimation equations are in a form suitable for the least-squares solution. Mathematical formulation of the methods is presented using the example of an integrating process with a first order lag dynamics and a zero which can be extended for other structures. An instrumental variable method to deal with the bias issue in least-squares solutions is used. Simulation results are presented to demonstrate the efficacy of the algorithms and their relative performance.