PID Controller Design Method Research Articles

PID tuning for improved performance

In this paper, a simple PID controller design method that achieves high performance for a wide range of linear self-regulating processes is proposed. Satisfactory responses can be expected for processes with various dynamics, including those with low- and high-order, small and large dead time, and monotonic and oscillatory responses. The method is developed based on a second-order plus dead time modeling technique and a closed-loop pole allocation strategy through the use of root-locus. Simulation examples and real-time experiments are given to show the effectiveness and flexibility of the controller in handling processes of different characteristics.

Quantitative performance design for integrating processes with time delay

This paper presents a new PID controller design method for integrating processes with time delay and time constant. First, the conditions that guarantee the stability of closed-loop system are investigated. Then an optimization method using H ∞ performance criterion is developed for deriving the controller. The stability and performance of closed-loop system are analyzed. The relationship between the closed-loop frequency response and the corresponding time-domain response is also examined. Examples are given to illustrate the proposed method.

Parameter Space Design Method of PID Controller for H∞ Control Problem

In this paper, a design method of a single-input single-output PID controller for H∞ control problem is proposed. Since the H∞ norm constraint consists of an internal stability condition and a frequency domain condition on the jω axis, the solution set of the PID gains for the H∞ control problem is given on a parameter plane as the intersection of the two sets which satisfy the above two conditions. As for the computation of the latter set, two methods are proposed. One is a method in which the set is directly computed from the frequency domain condition, and the other is a method in which the set is computed by using the parametrization of all the H∞ control solutions.

A Matrix Inequality Design of Robust PID Controller with Two Degrees of Freedom

Generally, industrial processes are too complex to obtain precise dynamics of a plant. Therefore, a controller is required to have robustness property in that it can attain acceptable control performance and closed-loop stability in the presence of plant uncertainty. In this paper, we proposed the unified design method for robust PID controller with two degrees of freedom which satisfies multiple design specifications based on the matrix inequality approach. And we propose a new genetic algorithm for solving this matrix inequality problem, because this problem is not formulated as the linear matrix inequality problem. And this method demonstrated by numerical simulations and shows good performance.

A Design Method of the Optimal PID Controller for Multiple Objective Optimization Using a Genetic Algorithms.

In this paper, we propose a method of Genetic Algorithms (GA) for multiple objective optimization problems. And, it is shown that the proposed GA improve the convergence of GA and the diversity of Pareto-optimal solutions, through two kinds of easy example problems of 2 objective optimization. Then, we apply the proposed GA to PID control design of 2 objective optimization problems. We solve 2 disk type mixed sensitivity problem and robust sensitivity minimization problem that include limiting control variable problem. The effectiveness of the PID controllers obtained by the proposed method is confirmed by the characteristics of the step response and gain diagrems of sensitivity function and complementary sensitivity function.

Tuning PID controllers for integrating processes

The paper extends the frequency domain PID controller design method, first proposed by the authors in an earlier paper, by presenting a comprehensive treatment of integrating processes. The general class of integrating processes is divided into two types, based on the sign of the second coefficient of the Taylor-series expansion applied to the stable part of the process transfer function. In both cases, the closed-loop performance is specified in terms of the desired control-signal trajectory scaled with respect to the magnitude of this coefficient. In addition, explicit PID tuning rules are given, for integrating plus delay processes along with their associated gain and phase margins and allowable time delay variations.

An Experimental Evaluation of Adaptive PID Controller on Frequency Domain

Abstract This paper is concerned with a design method of adaptive PID controller based on frequency domain analysis. The method is based on the estimation of a nonparametric plant model in the frequency domain and the determination of the PID controller parameters by achieving partial model matching so as to minimize a performance function concerning to relative model error between the loop transfer function of the control system and the desired system. In this design method, the plant is represented only by a discrete set of points on the Nyquist curve of the plant. Therefore it is not necessary to estimate a full order parameterized plant model. The proposed method is evaluated experimentally by using a position control of mechanical pendulum system and the effectiveness of the method is confirmed through practical experiments.

Design Method of Robust PID Controller and CAD System

This paper presents a parameter space approach to the design of PID controllers for mixed sensitivity, two disk mixed sensitivity, robust sensitivity problems, and H ∞ control problem. By these methods, a set of solutions can be represented as a region on a parameter plane of PID gains. A CAD system of these methods are developed for MATLAB.

A New PID tuning method by applying an iterative concept

Abstract In this paper, we propose a new PID controller design method based on the iterative identification and controller design scheme. At the identification part, we use a frequency weighted least square method for closed loop experimental data. The controller design is made two parts. (1) to design a frequency weighted LQG controller. (2) to design a PID controller by LQG controller reduction. In the reduction part, we use a frequency domain model matching method that is focused on the frequency response of the loop transfer function. The efficiency of this algorithm is shown through some simulation results.

Tuning of a Multivariable PID Controller on Frequency Domain and Its Application.

We outline the design method of a multivariable PID controller based on frequency domain analysis. The method is based on the determination of multivariable PID controller parameters by achieving partial model matching so as to minimize performance functions with respect to the relative model error between the loop transfer function matrix of the control system and the reference model. The proposed method is evaluated experimentally using position control of a parallel pendulum system. The effectiveness of the method is confirmed through practical examination.

New frequency-domain design method for PID controllers

This paper presents a new PID controller design method based on process frequency response information. The novel ideas lie in the way that the closed-loop performance is specified via the desired response of the control signal, and in the use of only one (for PI control) or two (for PID control) process frequency response points in the design. Straightforward analytical formulas are given for the PID controller parameters. Simulation studies are given to compare this design method with other design methods found in the literature. The results indicate that the new method provides much smoother responses in both the control signal and process output, which are generally more desirable in the process control setting.

Multivariable adaptive control for a space station using genetic algorithms

The paper presents a design method of multivariable adaptive digital tracking PID controllers using genetic algorithms (GA) and its application to the attitude control and momentum management (ACMM) system for a space station. The controller comprises two parts: (i) a fast online recursive identifier using the least squares method with variable forgetting factors to provide the updated dynamic parameters of the plant; and (ii) a genetic tuner based on artificial genetic algorithms to tune online the parameter matrices of the controller. The application of the controller using GA to the ACMM system for the space station yields remarkable results in stability robustness and setpoint tracking behaviour with respect to the large moments of inertia variations.

A Design Method of the Optimal PID Controller for a Two Disk Type Mixed Sensitivity Problem

A design method of PID controller for a two disk type mixed sensitivity problem is proposed. Permissible sets of PID gains which satisfy constraints on the sensitivity and complementary sensitivity functions are obtained at each frequency and a solution can be obtained as the intersection of these parameter sets and an optimal solution can be obtained by this method. The datum necessary for the design is the frequency response of the plant and no mathematical model is necessary. The algorithm is simple and easy for programming. A few numerical examples are given.

Optimization method for PID controller design

An optimization method for PID controller design is delt with in this paper. In handling the design problem, the simplex method and Powell's method in nonlinear programming are used under a flexible objective function that provides design options of closed-loop system response curves to meet various practical requirements. Numerical examples are given to demonstrate the design procedures.

Construction of PID Control System Based on Generalized Minimum Variance Control

PID control algorithms have been used extensively for several process control systems up to now. On the other hand, Clarke has proposed a generalized minimum variance adaptive control system with linear quadratic cost function as self-tuning control method for nonminimum-phase systems.In this paper, we consider the relationship between the PID control system and the generalized minimum variance adaptive control system. Then, it is shown that the PID control system is equivalent to a control strategy of minimizing a cost function in the generalized minimum variance control system. Furthermore, it is shown that PID control system can be regarded as a feedback control system with a pre-compensator. Next, we consider a design method of PID controller based on the generalized minimum variance control theory. Thus, PID gains are determined so as to construct a desired pre-compensator which suppresses an overshoot and shortens settling time or raise time. Finally, we show a numerical simulation result by the present method and apply the method to a pressure control system to show the effectiveness.