Higher-order derivative compensators for controlling the systems with higher dynamics

Nazim Mir-Nasiri

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


The PID controller is a popular choice for the control of industrial processes. The PDN controller introduced in this paper is a better alternative to PID. The paper presents the design and computer simulation of the PDN controller. The PDN controller is a simpler and more effective choice when dealing with higher-order dynamic systems. The gain components of the controller are introduced to improve transient characteristics of the higher-order industrial systems or processes by directly modifying the components of their characteristic equations. As a result the system under control becomes stable and able to respond faster to the inputs as compared to PID-based systems. The tunable command feed-forward steady-state gain (K S) of the PDN controller helps to track the constant or time-varying input commands much faster and more precisely than the integral component of the PID controller. The paper discusses the steady-state performance, stability problems and the gain tuning strategies to improve the transient responses of the feedback system. The quality of the PDN performance is demonstrated by solving the set point input (step) and tracking a time-varying input (ramp) problems. The paper also presents the detailed higher-order derivative compensators tuning procedures for the general case of unknown order, stable/unstable plant and particular case of unknown order but stable plant.

Original languageEnglish
Pages (from-to)126-133
Number of pages8
JournalInternational Journal of Modelling and Simulation
Issue number2
Publication statusPublished - 2011


  • Higher-order compensators
  • Stability criteria
  • Transient response
  • Tuning procedures

ASJC Scopus subject areas

  • Software
  • Modelling and Simulation
  • Mechanics of Materials
  • Hardware and Architecture
  • Electrical and Electronic Engineering

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