Rodríguez, CarlosAranda Escolástico, ErnestoGuzmán, José LuisBerenguel, ManuelHägglund, Tore2024-10-042024-10-042020ArandaEscolastico_Ernesto, C. Rodríguez, E. Aranda-Escolástico, J. L. Guzmán, M. Berenguel, T. Hägglund. “Revisiting the simplified IMC tuning rules for low-order controllers: 2DoF novel feedback controller”, IET Control Theory & Applications 14(13), 1700-1710, 2020. DOI: 10.1049/iet-cta.2019.08211751-8652 , 1751-8644https://doi.org/10.1049/iet-cta.2019.0821https://hdl.handle.net/20.500.14468/23906The registered version of this article, first published in “IET Control Theory & Applications 14(13)", is available online at the publisher's website: IET, The Institution of engineering and technology, https://doi.org/10.1049/iet-cta.2019.0821 La versión registrada de este artículo, publicado por primera vez en “IET Control Theory & Applications 14(13)", está disponible en línea en el sitio web del editor: IET, The Institution of engineering and technology, https://doi.org/10.1049/iet-cta.2019.0821This paper revisites the direct synthesis tuning method of continuous-time low-order controllers, and specially PID controllers, for control of time-delayed single-input single-output processes. A setpoint prefilter is included to improve the servo response and integrating load disturbances are accounted for. Robustness is addressed by the feedback controller to obtain the desired maximum sensitivity value. Similar results in step disturbance compensation are obtained with simpler analytical tuning rules when compared to recently reported methods. However, the proposed procedure enables to compensate integrating load disturbances, which are not handled in the other methods.eninfo:eu-repo/semantics/openAccess33 Ciencias Tecnológicasartículo