Abstract
A positive zero in the transfer function of a process causes an initial response in opposite to the final steady-state. This characteristic is known as inverse response and makes the control more challenging. In the literature, usually, well known tree term controllers, that is, Proportional-Integral-Derivative (PID) controllers, are used to control such processes. In this paper, simple analytical expressions have been derived to find optimum tuning parameters of I-PD controllers to control open loop stable processes with time delay and a positive zero. Time weighted versions of Integral of Squared Error (ISE) criterion, namely ISTE, IST2E and IST3E criteria, which have been proved to be resulting in quite satisfactory closed loop responses, have been used to derive optimum tuning rules. Effectiveness of obtained tuning rules has been shown by simulation examples.
Highlights
IT HAS BEEN reported that more than 95% of controllers in the process control applications are PID (ProportionalIntegral-Derivative) type controllers [1]
A PI-PD controller, which has proven to give rise to much better closed loop responses, in the Smith predictor scheme was suggested for controlling stable processes with inverse response [10]
Stands for the settings of I-PD controller to minimize the performance criteria given in Eq (1)
Summary
IT HAS BEEN reported that more than 95% of controllers in the process control applications are PID (ProportionalIntegral-Derivative) type controllers [1]. Pai et al [5] used direct synthesis method to obtain analytical expressions for calculating PI/PID controller settings for controlling integrating processes with time delay and inverse response. Kaya and Cengiz [8] designed PI/PID controllers using analytical rules for controlling time delay stable processes with inverse response. A PI-PD controller, which has proven to give rise to much better closed loop responses, in the Smith predictor scheme was suggested for controlling stable processes with inverse response [10] Two difficulties with this method can be expressed. Simple analytical expressions have been provided to calculate optimum settings of an I-PD controller for improving closed loop responses of stable processes with inverse response and time delay.
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