A tuning method for PID controller for an integrating system with time delay

A proportional integral derivative (PID) controller is the most commonly used in integrating process, where the time delay is inevitable. In order to tune a PID controller, several factors should be taken into account such as time delay, mathematic model and the feedback signals. Some existed tuning methods failed to obtain the correct parameters with all the factors. The proposed tuning method presents some formulas, which considers all the factors. The proposed tuning method is also tested by practical circuit, which proved that the method can be applied for several cases, especially for the inductor current control