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An extensive literature exists on the PID compensation of time delayed processes. It is possible to identify themes that are common to many of the available techniques. The intention of the paper is to provide a framework against which the literature may be viewed.
O'Dwyer, Aidan :PID compensation of time delayed processes: a survey. Proceedings of the Irish Signals and Systems Conference, pp. 5-12, Dublin, June, 2000. doi:10.21427/q98a-wc42