An I + PI Controller Structure for Integrating Processes with Dead-Time: Application to Depth Control of an Autonomous Underwater Vehicle.

The paper presents a feedforward plus feedback controller structure with I and PI controllers for control of an integrating process with dead time. Guidelines for controller gain selection based on time domain specifications of damping factor and natural frequency are provided along with simulations indicating the selectivity of process response. The utility of proposed controller structure is shown by simulating the depth control of a nonlinear autonomous underwater vehicle system by the proposed controller structure.