I-PD controller design for integarting and unstable processes based on maximum sensitivity

In control engineering, systems often need to be controlled by a controller in order to operate as desired. The most common of these controllers are PID type controllers. The tuning parameters of PID type controllers must be selected appropriately for the system to be controlled. Integrating and unstable systems are relatively more difficult to control than others. In order to overcome this difficulty, the structure of the PID type controller sometimes needs to be changed. In this thesis, unstable and pure integrator systems are controlled with an I-PD type controller. I-PD controllers perform better than PID controllers in the control of unstable or integrating systems. In this master's thesis, unstable and integrating systems are introduced, and the setting parameters of the I-PD controller are obtained from equations derived to give the appropriate Ms values by using low order transfer functions of the systems. The tuning parameters of the I-PD controller are calculated by using the pure integrator plus time delay and first order unstable plus time delay transfer function models of integrating and unstable systems, respectively. In order to examine the performance of obtained equations in the control of integrating and unstable process, closed loop simulation results are given in the Matlab Simulink Program. The results of the existing studies in the literature and the results of the proposed method were compared. In order to compare the performance of the existing controller designs and the proposed I-PD controller design, some performance indexes (TV, ITAE, OS, Gm, Pm and Ms) were calculated. As a result of obtaining suitable models for integrating and unstable processes, it has been determined that the proposed I-PD controller design in this thesis provides a more satisfactory performance than the existing PID, I-PD and PI-PD controller designs in the literature.