This paper addresses the problem of providing simple tuning rules for a Two-Degree-of-Freedom (2-DoF) PI controller (P I2) with robustness considerations. In order to deal with the well known performance/robustness tradeoff, an analysis is conducted first that allows the determination of the lowest closed-loop time constant that guarantees a desired robustness. Simple tuning rules are generated by considering specific values for the Maximum Sensitivity value. These tuning rules, provide all the controller parameters parameterized in terms of the open-loop normalized dead-time allowing the user to select a High/Medium/Low robust closed-loop control system.
