FRIT based PID parameter tuning for linear time delay systems - Simultaneous attainment of models and controllers

In this paper, we provide a new method of the PID parameter tuning for time-delay systems by utilizing the fictitious reference iterative tuning (FRIT), which is a controller tuning method enabling us to obtain the desired parameter with only one-shot experimental data. Here, by relating the conventional PID controller to the internal model controller (IMC), we show that PID parameters obtained as the result of the FRIT yield not only a desired controller but also a mathematical model of the controlled time delay system. In order to show the validity of the proposed method, we give an illustrative example.