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Evaluation and simple tuning of PID controllers with high-frequency robustness

Birgitta Kristiansson (Institutionen för signaler och system, Reglerteknik) ; Bengt Lennartson (Institutionen för signaler och system, Automation)
Journal of Process Control Vol. 16 (2006), 2, p. 91-102.
[Artikel, refereegranskad vetenskaplig]

An extensive study of robust and optimal tuning of PID controllers for stable non-oscillating plants is presented. It is built on a set of well defined criteria related to output performance,stability margins and control activity. Different interesting properties of the closed loop systems are observed. A set of simple tuning rules is based on these observations. These rules are compared to a couple of well established tuning methods and are shown to give well competitive results, especially when simplicity, low control activity and high-frequency robustness are emphasized. Derivative action is shown to improve performance significantly compared to PI control, with equal stability margin and a moderate increase of control activity, for most plants, including those with significant time delay.

Nyckelord: PID control, robustness, optimization, optimal systems, time delay

Denna post skapades 2007-02-22.
CPL Pubid: 26466