Abstract
Abstract A simple and direct algebraic method of calculating PID tuning constants for unmeasured load rejection based on a linear differential-equation process model (including time delay) is presented. Methods are discussed for experimentally identifying the process model from an open-loop doublet-pulse response and for robustly updating the process model from a closed-loop oscillatory response to an unmeasured load disturbance. These methods are combined to provide field-proven self-adaptive PID gain scheduling.
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