Robust Semi-automatic Design of PID Controllers for Systems with Time Delay

In this paper an extension of the Matlab-tool PIDrobust is presented. This tool calculates the entire set of PID controllers that stabilizes a set of linear systems with time delay simultaneously. On this basis an iteratively algorithm is used to improve σ-stability in order to assist operators. At the end of the process the operator is able to judge the results and interactively choose a controller. This tool needs much less computational effort than other optimization methods and achieves similar performance. It is can also be used for tuning robust controllers by means of the parameter space approach.