摘要：The focus of this contribution is on the use of two controller tuning techniques for delayed controllers designed by an algebraic approach for linear time-invariant time delay systems. The well-known Chien-Hrones-Reswick (CHR) method and the Equalization Method (EM) are used. The tuning procedure is applied to compensation-type controllers that include internal delays, and hence there can be found a link to the habitual Smith predictor structure. This study considers two typical representatives of controlled plants with both input-output and internal delays; namely, the first- and second-order (of derivatives) systems are taken. Numerical comparative experiments are presented and discussed.
