Next, the article explores the possibility of removing overshoots of the output and input of the process achieved for MRDP tuning by interchanging the parameters of the controller transfer function, which was proven as very effective in the case of the series PID controller. Experimentally, such a constrained series PIDA controller can be shown as equivalent to a constrained MRDP tuned parallel PIDA controller in anti-windup connection using conditional integration. This paper also shows that the constrained PIDA controller with the MRDP setting leads to transient responses with input and output overshoots. By using the multiple real dominant pole (MRDP) method, it confirms that the low-pass filter time constant in positive feedback must be much longer than the dominant time constant of the stabilized loop. This DOB interpretation is in full agreement with the results of the analysis of the optimal setting of the stabilizing PDA controller and of its expanded PIDA version with positive feedback from the controller output. Thereby, the DOB functionality is based on evaluating steady-state controller output. It shows that by introducing positive feedback by a low-pass filter from the (limited) output of the stabilizing PDA controller, one gets disturbance observer (DOB) for the reconstruction and compensation of input disturbances. The article starts with the design of disturbance reconstruction and compensation based on proportional-derivative-accelerative (PDA) stabilizing controllers. This paper discusses optimal design of the series proportional–integral–derivative–accelerative (PIDA) controller for integral-plus-dead-time (IPDT) plants.
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