An I + PI Controller Structure for Integrating Processes with Dead-Time: Application to Depth Control of an Autonomous Underwater Vehicle

2019/08/25 by Sujay D. Kadam, Kadam, Sujay D.
Engineering · #Adaptive Control of Nonlinear Systems #Advanced Control Systems Design #Advanced Control Systems Optimization #FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.1908.09250

openalex publication_date 2019/08/25 · openalex created_date 2019/08/29 · openalex updated_date 2026/07/28

Abstract

The paper presents a feedforward plus feedback controller structure with I and PI controllers for control of an integrating process with dead time. Guidelines for controller gain selection based on time domain specifications of damping factor and natural frequency are provided along with simulations indicating the selectivity of process response. The utility of proposed controller structure is shown by simulating the depth control of a nonlinear autonomous underwater vehicle system by the proposed controller structure.

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