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Solution 1. 2. Critical frequency of the plant is c=0,3521[rad/s]. Based on comparison of critical frequencies, GB(s) is 500-times slower than GA(s). Required settling time is ts=τs/c= =12/0,3521[s]=34,08[s]. Because DB/TB=2>1, the plant is a so-called „dead-time dominant system“. Due to a large the time delay, it is necessary to choose the lowest possible excitation frequency n to minimize the added phase nDB in (43). Hence, for the required performance (max2;τs)=(5%;12) (Design No. 2) we choose the B0,2 parabolas in Fig.

5, (May 1956), pp. P. & Chidambaram, M. (2002). Design of PI/PID Controllers for Unstable Systems with Time Delay by Synthesis Method, Indian Chemical Engineer Section A, Vol. 44, No. 2, pp. C. (2002). Process Control - a First Course with MATLAB (1st edition), Cambridge University Press, ISBN 978-0521002554, New York Chen, D. E. (2002). PI/PID Controller Design Based on Direct Synthesis and Disturbance Rejection, Industrial Engineering Chemistry Research, 41, pp. A. B. (1952). On the Automatic Control of Generalised Passive Systems.

2003). Easy Tuning of PID Controller. Journal of Electrical Engineering, Vol. 54, No. 5-6, (2003), pp. 136-139, ISSN 1335-3632, Bratislava, Slovak Republic Visioli, A. (2001). Tuning of PID Controllers with Fuzzy Logic, IEE Proceedings-Control Theory and Applications, Vol. 148, No. 1, pp. 180-184, 2001 Visoli, A. (2006). Practical PID Control, Advances in Industrial Control, Springer-Verlag London Limited, ISBN 1-84628-585-2 Vítečková, M. (1998). Seřízení regulátorů metodou požadovaného modelu (PID Controllers Tuning by Desired Model Method), Textbook, VŠB – Technical University of Ostrava, ISBN 80-7078-628-0, Czech Republic (in Czech) Vítečková, M.

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