Setpoint Versus Disturbance Responses of the IPDT Plant

This paper considers PI controller tuning for Integral Plus Dead Time plant (IPDT) by new Matlab/Simulink tool based on the performance portrait method. It enables to guarantee transient responses with specified deviations from ideal shapes at the plant output and input and to fulfill additional optimality specification, defined in terms of the minimal IAE (Integral of Absolute Error) values weighted for the setpoint and disturbance steps. As the ideal step responses at the plant output monotonic transients are considered, whereas at the plant input one-pulse responses consisting of two monotonic intervals are required. As an introduction to new generation of robust tuning approaches, optimal nominal tuning is firstly treated.