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

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