An I+PI controller with tuning rules based on damping and natural frequency is proposed for integrating processes with dead time, and is demonstrated on an AUV depth control simulation; the design ignores dead time in the feedback loop.
Limits of a simplified controller design based on ipdt models,
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An I + PI Controller Structure for Integrating Processes with Dead-Time: Application to Depth Control of an Autonomous Underwater Vehicle
An I+PI controller with tuning rules based on damping and natural frequency is proposed for integrating processes with dead time, and is demonstrated on an AUV depth control simulation; the design ignores dead time in the feedback loop.