Digital PI-PD controller design for arbitrary order systems: Dominant pole placement approach

Emre Dincel*, Mehmet Turan Söylemez

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

23 Citations (Scopus)


In this paper, a digital PI-PD controller design method is proposed for arbitrary order systems with or without time-delay to achieve desired transient response in the closed-loop via dominant pole placement approach. The digital PI-PD controller design problem is solved by converting the original problem to the digital PID controller design problem. Firstly, parametrization of the digital PID controllers which assign dominant poles to desired location is done. After that the subset of digital PID controller parameters in which the remaining poles are located away from the dominant pole pair is found via Chebyshev polynomials. The obtained PID controller parameters are then transformed into the PI-PD controller parameters by considering the closed-loop controller zero and the design is completed. Success of the proposed design method is firstly demonstrated on an example transfer function and compared with the well-known PID controller methods from the literature through simulations. After that the design method is implemented on the fan and plate laboratory system in a real environment.

Original languageEnglish
Pages (from-to)189-201
Number of pages13
JournalISA Transactions
Publication statusPublished - Aug 2018

Bibliographical note

Publisher Copyright:
© 2018 ISA


  • Chebyshev polynomials
  • Discrete-time domain
  • Dominant pole placement
  • Fan and plate system
  • PID controllers
  • Relative stabilization


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