Practical Guidelines for $PD$ and $PI$ Delay-Based Controllers.

International audienceThis paper focuses on the control scheme design of two different control schemes using delays. These two low-complexity controllers are direct alternatives for the $PD$ and $PI$ low-order controllers. More precisely, first, we study a $PD$ controller using the Euler approach for approximating the derivative action. Second, we analyze the implications of imposing a delay in the error signal on the integral action of the $PI$ controller for closed-loop response manipulation purposes. Our main contribution lies in proposing some practical guidelines for the tuning of these delayed control schemes such that the closed-loop system is stable. To this end, the criteria developed in this work makes use of the well-known $D$-partition curves method avoiding crossing direction analysis. Finally, in order to test the effectiveness of the proposed methodology, some numerical examples are presented