Abstract

This paper investigates tuning techniques for PID, PD-PI, PI-PD, and 2DOF controllers applied to boiler-drum water level regulation. MATLAB optimization toolbox and ITAE/ISTSE performance indices were utilized for tuning parameters. The study presents unit step time response evaluations for reference and disturbance inputs. A novel disturbance rejection technique is introduced, and the best controller is identified based on detailed graphical and tabular analysis.