Research Article
MIMO PI Controllers for LTI Systems with Multiple Time Delays Based on ILMIs and Sensitivity Functions
Table 6
Robustness analysis under ±10% parametric uncertainties: The ISP reactor case study.
| Tuning method | ISP (+10%) | ISP (−10%) | Set-point | Disturbance | Set-point | Disturbance | IAE | TV | IAE | TV | IAE | TV | IAE | TV |
| Proposed | 19.75 | 8.72 | 120.67 | 2.90 | 21.28 | 9.27 | 127.46 | 2.54 | PI | 158.68 | 1.95 | 224.06 | 1.33 | 193.50 | 1.94 | 225.85 | 1.33 | PID [14] | 404.24 | 4.82 | 415.56 | 1.28 | 482.68 | 4.94 | 418.84 | 1.52 | IMC-PI [13] | 4.36 | 2.05 | 48.33 | 8.26 | 3.58 | 1.92 | 49.95 | 10.32 |
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