Tuning of PID/PIDD2 controllers for integrating processes with robustness specification

Tuning of PID/PIDD2 controllers are proposed in the paper for integrating processes with time delay via the state space pole placement method. The tuning formulas give the controller parameters in terms of a given maximum sensitivity. An observer-based PID structure is proposed to implement the ideal PID or PIDD2 controllers. The structure utilizes a model-independent observer to estimate the various order of the derivatives of the plant output, thus the sensitivity of the derivatives on the measurement noise can be reduced. Simulation results show that the tuning formulas can achieve good compromise among robustness, disturbance rejection, and noise attenuation for the integrating processes. •Tuning of PID/PIDD2 controller is proposed for integrating plants (IPTD, DIPTD, and IFOPTD) using based on state-space pole placement.•Tuning formulas ensure desired robustness by incorporating maximum sensitivity (Ms) and plants parameters.•Ideal PID/PIDD2 controller is implemented with observer-based PID structure to reduce effect of measurement noise.