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This paper will compare a number of PID and predictive controller strategies to compensate processes modelled in first order lag plus time delay (FOLPD) form. The performance and robustness of the resulting compensated systems are evaluated analytically (where appropriate) and in simulation.
Syder, James and Heeg, Thomas and O'Dwyer, Aidan : Dead-time compensators: performance and robustness issues. Proceedings of Process Control and Instrumentation 2000, pp. 166-171, Glasgow, Scotland, July 26-28.