A tuning method for the derivative filter in PID controller with delay time

A proportional integral derivative (PID) controller is most widely applied in control processes, where the delay time always exists. Because of the characteristics of derivative, which is always replaced with a derivative filter in the practical control system. Besides the parameters of PID controller, the parameter of derivative filter is also required to be tuned. A proposed tuning method is presented in this paper which connects the parameter of derivative filter with the parameters of PID controller and delay time of the system. This method can be applied for several cases, based on the proposed formulas, the parameter can be obtained with a known delay time