Handbook of PI and PID Controller Tuning Rules

The following sections are included:

• Preface

• Contents

The following sections are included:

• Preliminary remarks

• Structure of the book

• References

The following sections are included:

• Introduction

• PI controller structures

• PID controller structures
  • Ideal PID controller structure and its variations
  • Classical PID controller structure and its variations
  • Non-interacting PID controller structure and its variations
  • Other PID controller structures
  • Comments on the PID controller structures

• Process modelling

• Organisation of the tuning rules

• References

The following sections are included:

• FOLPD model
  • Ideal controller
  • Ideal controller in series with a first order filter
  • Ideal controller in series with a second order filter
  • Controller with set-point weighting
  • Controller with proportional term acting on the output

• Non-model specific
  • Ideal controller
  • Controller with set-point weighting

• IPD model
  • Ideal controller
  • Ideal controller in series with a first order filter
  • Controller with set-point weighting
  • Controller with proportional term acting on the output

• FOLIPD model
  • Ideal controller
  • Controller with set-point weighting

• SOSPD model
  • Ideal controller
  • Controller with set-point weighting

• SOSIPD model - repeated pole
  • Controller with set-point weighting

• SOSPD model with a positive zero
  • Ideal controller

• Third order system plus time delay model
  • Ideal controller
  • Controller with set-point weighting
  • Third order lag plus time delay (TOLPD) model
  • TOLPD model – repeated pole

• Unstable FOLPD model
  • Ideal controller

• Unstable SOSPD model (one unstable pole)
  • Ideal controller

• Delay model
  • Ideal controller

• General model with integrator
  • Ideal controller

• References

The following sections are included:

• FOLPD model
  • Ideal controller
  • Ideal controller in series with a first order lag
  • Ideal controller in series with a second order filter
  • Ideal controller with weighted proportional term
  • Ideal controller with first order filter and set-point weighting 1
  • Controller with filtered derivative
  • Classical controller 1
  • Series controller (classical controller 3)
  • Classical controller 4
  • Non-interacting controller 1
  • Non-interacting controller 2a
  • Non-interacting controller 2b
  • Non-interacting controller based on the two degree of freedom structure
  • Non-interacting controller 4
  • Non-interacting controller 6 (I-PD controller)
  • Industrial controller

• Non model specific
  • Ideal controller
  • Ideal controller with weighted proportional term
  • Controller with filtered derivative
  • Ideal controller with set-point weighting
  • Classical controller 1
  • Series controller (classical controller 3)
  • Classical controller 4
  • Non-interacting controller 4

• IPD model
  • Ideal controller
  • Ideal controller with first order filter and set-point weighting 2
  • Controller with filtered derivative
  • Classical controller 1
  • Classical controller 4
  • Non-interacting controller based on the two degree of freedom structure
  • Non-interacting controller 4
  • Non-interacting controller 6 (I-PD controller)

• FOLIPD model
  • Ideal controller
  • Ideal controller in series with a first order lag
  • Ideal controller with weighted proportional term
  • Controller with filtered derivative
  • Ideal controller with set-point weighting
  • Classical controller 1
  • Classical controller 4
  • Non-interacting controller based on the two degree of freedom structure
  • Non-interacting controller 4
  • Alternative controller 1
  • Alternative controller 2

• SOSPD model
  • Ideal controller
  • Ideal controller in series with a first order lag
  • Ideal controller in series with a first order filter
  • Controller with filtered derivative
  • Ideal controller with set-point weighting
  • Classical controller 1
  • Classical controller 2
  • Series controller (classical controller 3)
  • Non-interacting controller 1
  • Non-interacting controller based on the two degree of freedom structure
  • Non-interacting controller 4
  • Non-interacting controller 5

• I²PD model
  • Non-interacting controller based on the two degree of freedom structure

• SOSIPD model (repeated pole)
  • Non-interacting controller based on the two degree of freedom structure

• SOSPD model with a positive zero
  • Ideal controller
  • Controller with filtered derivative
  • Classical controller 1
  • Classical controller 4
  • Non-interacting controller 1
  • Non-interacting controller based on the two degree of freedom structure

• SOSPD model with a negative zero
  • Ideal controller
  • Controller with filtered derivative
  • Classical controller 1
  • Classical controller 4
  • Non-interacting controller 1
  • Non-interacting controller based on the two degree of freedom structure

• TOLPD model
  • Ideal controller
  • Non-interacting controller based on the two degree of freedom structure

• Unstable FOLPD model
  • Ideal controller
  • Ideal controller with set-point weighting
  • Classical controller 1
  • Non-interacting controller 3
  • Non-interacting controller 8

• Unstable SOSPD model (one unstable pole)
  • Ideal controller
  • Ideal controller with set-point weighting
  • Classical controller 1
  • Series controller (classical controller 3)
  • Non-interacting controller 3
  • Non-interacting controller 7

• Unstable SOSPD model (two unstable poles)
  • Ideal controller
  • Ideal controller with set-point weighting

• General model with a repeated pole
  • Ideal controller

• General stable non-oscillating model with a time delay
  • Ideal controller

• Fifth order model with delay
  • Ideal controller
  • Controller with filtered derivative

• References

The following sections are included:

• Introduction

• The analytical determination of gain margin and phase margin
  • PI tuning formulae
  • PID tuning formulae

• The analytical determination of maximum sensitivity

• Simulation results

• Design of tuning rules to achieve constant gain and phase margins for all values of delay
  • PI controller design
  • PID controller design
  • PD controller design

• Conclusions

• References

The following sections are included:

• Appendix 1 Glossary of Symbols Used in the Book

• Appendix 2 Some Further Details on Process Modelling

• Index