This paper provides optimum analytical tuning rules to determine tuning parameters of Integral-Proportional Derivative (I-PD) controllers for controlling integrating processes with inverse response and time delay. Integral performance criteria, such as ISTE (integral of squared time error), IST2E (integral of squared time2 error) and IST3E (integral of squared time3 error), are used to derive mentioned optimum tuning rules. The effectiveness of the proposed I-PD controller design method are shown by simulation examples. Comparisons with design methods existing in the literature, in terms of set point tracking and disturbance rejection capability, are performed to see the use of the proposed I-PD controller. Some performance measures are also given to evaluate the closed loop performances. It has been observed that the proposed I-PD controller has some important advantages over design methods used for comparison.

中文翻译：

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积分-比例微分调谐以获得最佳闭环响应，以控制具有逆响应的积分过程

本文提供了最佳分析调整规则，以确定积分比例微分 (I-PD) 控制器的调整参数，以控制具有逆响应和时间延迟的积分过程。积分性能标准，例如ISTE（时间平方误差积分）、IST2E（时间平方误差积分）和IST3E（时间平方误差积分），用于推导上述最佳调整规则。仿真实例显示了所提出的 I-PD 控制器设计方法的有效性。在设定点跟踪和干扰抑制能力方面与文献中现有的设计方法进行比较，以了解所提出的 I-PD 控制器的使用。还给出了一些性能指标来评估闭环性能。