document: Performance comparison between PID and dead-time compensating controllers This paper is intended to answer the question : `` When can a simple dead-time compensator be expected to perform better than a PID ? '' . The performance criterion used is the integrated absolute error -LRB- IAE -RRB- . It is compared for PI and PID controllers and a simple dead-time compensator -LRB- DTC -RRB- when a step load disturbance is applied at the plant input . Both stable and integrating processes are considered . For a fair comparison the controllers should provide equal robustness in some sense . Here , as a measure of robustness , the H/sub infinity / norm of the sum of the absolute values of the sensitivity function and the complementary sensitivity function is used . Performance of the DTC 's is given also as a function of dead-time margin -LRB- D/sub M / -RRB-
doc_bio_tags: B I O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O B I O O O B I I O B O O O O O O O O B I O O O O O O B O O O B I I O O O O O O O O O O B I O O O O O O O O O O O B I O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O B I I O O O O O O B O O O O O O O O O O O O O O O