Proportional-integral-derivative controller design for time-delay systems via stability region centroid

Design of proportional-integral-derivative (PID) controller with proportional, integral, and derivative gains given by 𝑘𝑝, 𝑘𝑖 and 𝑘𝑑 respectively, for timedelay systems is presented in this study. The centroid of the convex stability region (CCSR) method in the 𝑘𝑖 -𝑘𝑑 plane for fixed 𝑘𝑝 is used. PID controller design for time-delay systems in the 𝑘𝑝-𝑘𝑖 plane for a fixed 𝑘𝑑 and 𝑘𝑖 -𝑘𝑑 plane for a fixed 𝑘𝑝 have been extensively researched. Despite the amenability of CCSR method to design of PID controller in the 𝑘𝑖 -𝑘𝑑 plane for fixed 𝑘𝑝, its application in this regard has not been given serious attention. The stability region in 𝑘𝑖 -𝑘𝑑 plane for fixed 𝑘𝑝 was determined and the required controller gains in the region were determined using the CCSR method. Using the determined controller gains, the system closed loop unit step response for all the considered regions was plotted on same axes. Based on the obtained results, different combinations of controller gains can be implemented depending on the system time domain performance measures (TDPMs) requirements. However, selection of an appropriate controller gains combinations, requires compromise among any of the conflicting TDPMs.