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이윤형(Yun-Hyung Lee),안종갑(Jong-Kap Ahn),소명옥(Myung-Ok So),이준탁(Jun-Tack Lee) 한국마린엔지니어링학회 2007 한국마린엔지니어링학회 학술대회 논문집 Vol.2007 No.-
A simple tuning methods of PI, PD and PID controller are proposed for an integrating process with time delay. This is based on matching the coefficients of corresponding powers of s in the numerator and that in the denominator of the closed-loop transfer function. For set-point tracking problem, the derived controller is found to be a PD controller which is shown by Lee's tuning rule based on minimizing the performance indexes (lSE, IAE, ITAE) using a real-coded genetic algorithm. A method can be also proposed PI, PID controllers according to tuning parameter lambda (A) similar to IMC method. Simulation example is given to illustrate the set-point tracking performance of the proposed method.