Handbook of PI and PID Controller Tuning Rules

2^nd Edition

https://doi.org/10.1142/p424 | February 2006

Pages: 564

By (author):
Aidan O'Dwyer (Dublin Institute of Technology, Ireland)

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The vast majority of automatic controllers used to compensate industrial processes are of PI or PID type. This book comprehensively compiles, using a unified notation, tuning rules for these controllers proposed over the last seven decades (1935–2005). The tuning rules are carefully categorized and application information about each rule is given. The book discusses controller architecture and process modeling issues, as well as the performance and robustness of loops compensated with PI or PID controllers. This unique publication brings together in an easy-to-use format material previously published in a large number of papers and books.

This wholly revised second edition extends the presentation of PI and PID controller tuning rules, for single variable processes with time delays, to include additional rules compiled since the first edition was published in 2003.

Sample Chapter(s)
Chapter 1: Introduction (17 KB)

Contents:

Controller Architecture
Tuning Rules for PI Controllers
Tuning Rules for PID Controllers
Performance and Robustness Issues in the Compensation of FOLPD Processes with PI and PID Controllers

Readership: Control engineering researchers in academia and industry with an interest in PID control and control engineering practitioners using PID controllers. The book also serves as a reference for postgraduate and undergraduate students.

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FRONT MATTER

Pages:i–xvii

https://doi.org/10.1142/9781860949104_fmatter

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Introduction

Pages:1–4

https://doi.org/10.1142/9781860949104_0001

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Controller Architecture

Pages:5–25

https://doi.org/10.1142/9781860949104_0002

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Tuning Rules for PI Controllers

Pages:26–153

https://doi.org/10.1142/9781860949104_0003

Preview Abstract

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
- Controller with set-point weighting
- Controller with proportional term acting on the output 1
- Controller with proportional term acting on the output 2

FOLPD Model with a Positive Zero
- Ideal controller
- Ideal controller in series with a first order lag

FOLPD Model with a Negative Zero
- Ideal controller in series with a first order lag

Non-Model Specific
- Ideal controller
- Controller with set-point weighting

IPD Model
- Ideal controller
- Ideal controller in series with a first order lag
- Controller with set-point weighting
- Controller with proportional term acting on the output 1
- Controller with proportional term acting on the output 2
- Controller with a double integral term

FOLIPD Model
- Ideal controller
- Controller with set-point weighting
- Controller with proportional term acting on the output 1
- Controller with proportional term acting on the output 2

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

SOSIPD Model – Repeated Pole
- Controller with set-point weighting

SOSPD Model with a Positive Zero
- Ideal controller

SOSPD Model (repeated pole) with a Negative Zero
- Ideal controller in series with a first order lag

Third Order System plus Time Delay Model or
- Ideal controller
- Controller with set-point weighting

Unstable FOLPD Model
- Ideal controller
- Controller with set-point weighting
- Controller with proportional term acting on the output 1
- Controller with proportional term acting on the output 2

Unstable FOLPD Model with a Positive Zero
- Ideal controller
- Ideal controller in series with a first order lag
- Controller with set-point weighting

Unstable SOSPD Model (one unstable pole)
- Ideal controller

Unstable SOSPD Model with a Positive Zero
- Ideal controller
- Controller with set-point weighting

Delay Model G_m(s)= K_me^−st_m
- Ideal controller

General Model with a Repeated Pole
- Ideal controller

General Model with Integrator
- Ideal controller

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Tuning Rules for PID Controllers

Pages:154–461

https://doi.org/10.1142/9781860949104_0004

Preview Abstract

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
- Blending controller
- Classical controller 1
- Classical controller 2
- 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 1
- Non-interacting controller based on the two degree of freedom structure 2
- Non-interacting controller based on the two degree of freedom structure 3
- Non-interacting controller 4
- Non-interacting controller 5
- Non-interacting controller 6 (I-PD controller)
- Non-interacting controller 7
- Non-interacting controller 11
- Non-interacting controller 12
- Industrial controller

Non-Model Specific
- 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
- Controller with filtered derivative
- Ideal controller with set-point weighting 1
- Classical controller 1
- Series controller (classical controller 3)
- Classical controller 4
- Non-interacting controller based on the two degree of freedom structure 1
- Non-interacting controller 4
- Non-interacting controller 9

IPD Model
- Ideal controller
- Ideal controller in series with a first order lag
- Ideal controller with first order filter and set-point weighting 2
- Controller with filtered derivative
- Controller with filtered derivative and dynamics on the controlled variable
- Classical controller 1
- Classical controller 2
- Classical controller 4
- Non-interacting controller based on the two degree of freedom structure 1
- Non-interacting controller based on the two degree of freedom structure 3
- Non-interacting controller 4
- Non-interacting controller 6 (I-PD controller)
- Non-interacting controller 8
- Non-interacting controller 10
- Non-interacting controller 12

FOLIPD Model
- Ideal controller
- Ideal controller in series with a first order lag
- Ideal controller with weighted proportional term
- Controller with filtered derivative
- Controller with filtered derivative with set-point weighting 1
- Controller with filtered derivative with set-point weighting 3
- Ideal controller with set-point weighting 1
- Classical controller 1
- Classical controller 2
- Series controller (classical controller 3)
- Classical controller 4
- Non-interacting controller based on the two degree of freedom structure 1
- Non-interacting controller 4
- Non-interacting controller 6 (I-PD controller)
- Non-interacting controller 8
- Non-interacting controller 11
- Non-interacting controller 12
- Industrial controller
- Alternative controller 1
- Alternative controller 2

SOSPD Model or
- Ideal controller
- Ideal controller in series with a first order lag
- Ideal controller in series with a first order filter
- Ideal controller in series with a second order filter
- Controller with filtered derivative
- Controller with filtered derivative in series with a second order filter
- Ideal controller with set-point weighting 1
- Ideal controller with set-point weighting 2
- 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 1
- Non-interacting controller 4
- Non-interacting controller 5
- Non-interacting controller 6
- Alternative controller 4

I²PD Model
- Controller with filtered derivative with set-point weighting 2
- Controller with filtered derivative with set-point weighting 4
- Series controller (classical controller 3)
- Non-interacting controller based on the two degree of freedom structure 1
- Industrial controller

SOSIPD Model (repeated pole)
- Non-interacting controller based on the two degree of freedom structure 1

SOSPD Model with a Positive Zero or
- Ideal controller
- Ideal controller in series with a first order lag
- Controller with filtered derivative
- Classical controller 1
- Series controller (classical controller 3)
- Classical controller 4
- Non-interacting controller 1
- Non-interacting controller based on the two degree of freedom structure 1

SOSPD Model with a Negative Zero or
- 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 1

Third Order System plus Time Delay Model or
- Ideal controller
- Ideal controller in series with a first order lag
- Controller with filtered derivative
- Non-interacting controller based on the two degree of freedom structure 1

Unstable FOLPD Model
- Ideal controller
- Ideal controller in series with a first order lag
- Ideal controller with set-point weighting
- Classical controller 1
- Series controller (classical controller 3)
- Non-interacting controller based on the two degree of freedom structure 1
- Non-interacting controller 3
- Non-interacting controller 8
- Non-interacting controller 10
- Non-interacting controller 12

Unstable SOSPD Model (one unstable pole)
- Ideal controller
- Ideal controller in series with a first order lag
- Ideal controller with set-point weighting 1
- Classical controller 1
- Series controller (classical controller 3)
- Non-interacting controller 3
- Non-interacting controller 8

Unstable SOSPD Model (two unstable poles)
- Ideal controller
- Ideal controller with set-point weighting 1

Unstable SOSPD Model with a Positive Zero
- Ideal controller in series with a first order lag
- Non-interacting controller based on the two degree of freedom structure 1