PID controller tuning for time delayed second order unstable process with 2 RHPs

A Proportional-Integral-Derivative (PID) controller is designed for unstable second-order systems which contain Two Right half pole (RHP). Time delays arise in process control loops due to process delay. Time delay of the process is approximated by using Taylor series approximation. The overall time constant of the process is divided into multiple time constants. The closed loop characteristic equation is compared with the divided time constants of the second order process to get the controller tuning parameters. This method gives good responses for both set point tracking and loads disturbance rejections. For simulations of erratic second-order systems with time delays, the suggested technique is used. The robustness of the designed controller is also verified by uncertainties in the process parameters of process gain and time delay. This approach delivers good nominal and performance results.