International Journal of Applied Science and Engineering
Published by Chaoyang University of Technology

C. V. Nageswara Raoa, A. Seshagiri Raob, and R. Padma Sree1,c

a Department of Chemical Engineering, G.V. P. College of Engineering (A), Madhurawada
b Department of Chemical Engineering, NIT, Trichy.
c Department of Chemical Engineering, AU College of Engineering (A), Visakhapatnam, India

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In this paper, design of Proportional Integral and Derivative (PID) controllers based on internal model control (IMC) principles, direct synthesis method (DS), stability analysis (SA) method for pure integrating process with time delay is proposed. The performances of the proposed controllers are compared with the controllers designed by recently reported methods. The robustness of the proposed controllers for the uncertainty in model parameters is evaluated considering one parameter at a time using Kharitonov’s theorem. The proposed controllers are applied to various transfer function models and to non linear model of isothermal continuous copolymerization of styrene-acrylonitrile in CSTR. An experimental set up of tank with the outlet connected to a pump is considered for implementation of the PID controllers designed by the three proposed methods to show the effectiveness of the methods.

Keywords: PID controller; integrating systems; internal model controller; stability analysis; direct synthesis method; robustness; Kharitonov’s theorem; level control in cylindrical tank

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Accepted: 2011-09-29
Available Online: 2011-12-01

Cite this article:

Rao, C.V.N., Rao, A.S., Sree, R.P. 2011. Design of PID controllers for pure integrator systems with time delay. International Journal of Applied Science and Engineering, 9, 241–260.

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