Controller Design in Time Delay Systems Based on Shape Coefficients Method

This paper presents tuning relations for controllers in time delay systems based on shape coefficients method. The time scale factor is determined to fit the desired shape of the closed loop response to the time delay controlled plant by the so-called closing equation. The method can be applied to processes with both input-output delays and internal delays. Explicit tuning relations are obtained for PID controllers. Some comparative results are presented to point out the advantages and limits of the method.