Discrete-Time PID Controller Tuning Using Frequency Loop-Shaping

This paper presents a review of the current as well as classical techniques used for PID tuning. PID controllers have been used for industrial processes for long, and PID tuning has been a field of active research for a long time. The techniques reviewed are classified into classical techniques developed for PID tuning and optimization techniques applied for tuning purposes. A comparison between some of the techniques has also been provided. The main goal of this paper is to provide a comprehensive reference source for people working in PID controllers.

Report CSC-96016, Centre for Systems and Control, University of Glasgow, 1996

This paper provides a survey of methods proposed in the literature for the design of fixed structure Proportional Integral Derivative (PID) controllers. The design of single input single output (SISO), Cascade and multiple input multiple output (MIMO) PID controllers is covered. Both linear and non-linear approaches are reviewed. { { m, K.J. PID Controllers Instrument Society of America, 1995. Abdul Zaher, T.F.A.; Sheirah, M.A. Generalised PID tuning method pp. 380-385. Appukuttan, K.K.; Ramer, K.

Journal of Process Control, 2006

An extensive study of robust and optimal tuning of PID controllers for stable non-oscillating plants is presented. It is built on a set of well defined criteria related to output performance, stability margins and control activity. Different interesting properties of the closed loop systems are observed. A set of simple tuning rules is based on these observations. These rules are compared to a couple of well established tuning methods and are shown to give well competitive results, especially when simplicity, low control activity and high-frequency robustness are emphasized. Derivative action is shown to improve performance significantly compared to PI control, with equal stability margin and a moderate increase of control activity, for most plants, including those with significant time delay.

– This paper proposes a new method for tuning a linear quadratic-proportional integral derivative controller for second order systems to simultaneously meet the time and frequency domain design specifications. The suitable loop-shape of the controlled system and the desired step response are considered as specifications in the time and frequency domains, respectively. The weighting factors, Q and R of the LQ controller are determined by the algebraic Riccati equation with respect to the limiting behavior and target function matching. Numerical examples show the effectiveness of the proposed LQ-PID tuning method

Proportional integral derivative (PID) control is the most commonly used control algorithm in the industry today. PID controller popularity can be attributed to the controller’s effectiveness in a wide range of operation conditions, its functional simplicity, and the ease with which engineers can implement it using current computer technology . In this paper, the Dc servomotor model is chosen according to his good electrical and mechanical performances more than other Dc motor models , discuss the novel method for tuning PID controller and comparison with Ziegler - Nichols method from through parameters of transient response of any system which uses PID compensator

Control Engineering Practice, 1993

Adaptive techniques such as gain scheduling, automatic tuning and continuous adaptation have been used in industrial single-loop controllers for about ten years. This paper gives a survey of the different adaptive techniques, the underlying process models and control designs. An overview of industrial products is also presented, which includes a fairly detailed investigation of four different adaptive single-loop controllers.

IEEE Transactions on Automatic Control, 2003

In this note, we study the stability and controller robustness of some popular proportional-integral-derivative (PID) tuning techniques that are based on first-order models with time delays. Using the characterization of all stabilizing PID controllers derived in a previous paper, each tuning rule is analyzed to first determine if the proportional gain value dictated by that rule, lies inside the range of admissible proportional gains. Then, the integral and derivative gain values are examined to determine conditions under which the tuning rule exhibits robustness with respect to controller parameter perturbations.

IEE Proceedings - Control Theory and Applications, 2002

A general controller evaluation method based on three performance and robustness criteria is presented. It can be used to compare controllers of different structures, but also as a design method to find the optimal parameter setting for a controller of given structure. In this way optimal PI and PID controllers have been designed for a set of different plants. Clear regularities have then been noticed and utilised to formulate sets of tuning rules for non-oscillating stable plants and for plants with integral action. The rules demand very little plant knowledge but the resulting controllers are close to optimum. Furthermore, the user may adjust one or two of the tuning parameters and still get very good results. This means that the user has some freedom to manage the important trade-off between performance, robustness and control activity.

2013

Controlling the process is the main issue that rises in the process industry. It is very important to keep the process working probably and safely in the industry, for environmental issues and for the quality of the product being processed. PID control is a control strategy that has been successfully used over many years. Simplicity, robustness, a wide range of applicability and near optimal performance are some of the reasons that have made PID control so popular in the academic and industry sectors. Recently, it has been noticed that PID controllers are often poorly tuned and some efforts have been made to systematically resolve this matter. In the paper a brief summary of PID theory is given, then, some of the most used PID tuning methods are discussed.

—Designing and tuning a proportional-integral-derivative (PID) controller appears to be conceptually intuitive, but can be hard in practice, if multiple (and often conflicting) objectives such as short transient and high stability are to be achieved. Usually, initial designs obtained by all means need to be adjusted repeatedly through computer simulations until the closed-loop system performs or compromises as desired. This stimulates the development of " intelligent " tools that can assist engineers to achieve the best overall PID control for the entire operating envelope. This development has further led to the incorporation of some advanced tuning algorithms into PID hardware modules. Corresponding to these developments, this paper presents a modern overview of functionalities and tuning methods in patents, software packages and commercial hardware modules. It is seen that many PID variants have been developed in order to improve transient performance, but standardising and modularising PID control are desired, although challenging. The inclusion of system identification and " intelligent " techniques in software based PID systems helps automate the entire design and tuning process to a useful degree. This should also assist future development of " plug-and-play " PID controllers that are widely applicable and can be set up easily and operate optimally for enhanced productivity , improved quality and reduced maintenance requirements.