Performance Evaluation of PI Tuning Rules for Stable Time Delay Processes: A Comparative Study

Closed-loop performance of five well known PI tuning methods is investigated for a wide range of stable first order plus time delay process models in this work. An attempt has been made to help the user in selecting the suitable tuning strategy for servo and regulatory control applications. Performance measures used for comparison are the integral absolute error in the controlled variable and total variation of the manipulated variable etc. Furthermore, a performance index namely the total performance index (TPI) has been introduced by including the standard and well defined indices.