Tuning of a Feed forward Lag-Lead First-Order Compensator used with a Fractional Time Delay Double Integrating Process

The problem of controlling an unstable delayed double integrating process with fractional delay using a feed forward first-order lag-lead compensator is studied. The effect of time delay of the process in a range between 0.1 and 0.9 seconds is considered. The compensator is tuned using MATLAB optimization toolbox with five forms of the objective function in terms of the error between the step time response of the closed-loop control system and the response steady-state value. Using the proposed compensator with the fractional delayed double integrating process indicates the robustness of the compensator in the time delay range used with superior time-based specifications compared with other technique based on PID controller .