The controller attempts to minimize the error over time by adjustment of a control variable, such as the position of a control valve, a damper, or the power supplied to a heating element, to a new value determined by a weighted sum Where k p, K i and K d all non negative, denote the coefficients for the proportional, integral and derivative terms. Dead timesproducea decrease in the system phase and also give rise to a non-rational transfer function of thesystem making them more difficult to analyse and control. Because of this characteristics dead time control problems have attracted the attention of engineers and researchers who have developed a special type of controller like PID controllers, Smith Predictor(DTC), MPC and various algorithms to control dead times.