Design of integral time absolute error suboptimal time-delay system based on Maclaurin expansion

A desired model of ITAE(integral time absolute error) optimal time-delay system is presented based on the canonical form of ITAE optimal system(ITAE-OS). By making use of Maclaurin expansion, a design method for ITAE suboptimal time-delay system(ITAE-STDS) is discussed. The comparison of the third order ITAE-STDS with ITAE-OS reveals their similar dynamic performance in frequency domain and time domain. Case studies in design of PID and the lead-lag compensator are given. Comparisons of step response, load rejection and parameter robustness show that the resulting systems have satisfactory performance by using the proposed method.