طراحی کنترل کننده PID برای سیستم های مرتبه اعشاری با تاخیر زمان

Classical proper PID controllers are designed for linear time invariant plants whose transfer functions are rational functions of sαsα, where 0<α<10<α<1, and ss is the Laplace transform variable. Effect of input–output time delay on the range of allowable controller parameters is investigated. The allowable PID controller parameters are determined from a small gain type of argument used earlier for finite dimensional plants.