Ef. Jacob et M. Chidambaram, DESIGN OF CONTROLLERS FOR UNSTABLE FIRST-ORDER PLUS TIME-DELAY SYSTEMS, Computers & chemical engineering, 20(5), 1996, pp. 579-584
Explicit design formula are derived for feedback controllers by model
reference method, synthesis method and internal model control method f
or an unstable first-order plus time delay system. The performance of
the proposed controllers is evaluated for perturbations in time delay,
time constant and process gain. The performance is also compared with
that of a conventional PI controller.