2DOF PI and PID Controllers Tuning

This paper is devoted to the tuning of the PI and PID controllers with two degrees of freedom by the multiple dominant pole method for first order plants with a time delay and integrating plants with a time delay. It is shown that by the corresponding tuning of the controllers with two degrees of freedom it is possible to obtain the non-oscillatory servo and regulatory step responses without overshoots. The cases that are used are demonstrated in the examples.