Towards autonomous PI control satisfying classical robustness specifications

Crowe, J.; Johnson, Michael

doi:10.1049/ip-cta:20020090

Cited by 19 publications

(8 citation statements)

References 2 publications

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“…In many design methods for PID controllers presented in the literature, the ratios between the time constants in (11) have been more or less fixed and not really utilized in the design procedure. Introduce…”

Section: Some Results For Optimal Pi and Pid Controllersmentioning

confidence: 99%

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Evaluation and tuning of robust PID controllers

Lennartson

Kristiansson

2009

IET Control Theory Appl.

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A general controller evaluation method is introduced, based on four performance and robustness criteria including both low-, mid-and high-frequency properties. According to this method, optimal PI and PID controllers are designed. In industrial applications derivative action is often omitted, due to noise sensitivity. In this paper is shown that when a low-pass filter is included in the design of a PID controller, the control activity as well as the noise sensitivity can be significantly reduced compared to common design rules. These benefits are reached without deterioration of stability margins or low frequency performance. Two sets of simple tuning rules for stable non-oscillating plants are proposed. One set is suitable for automatic tuning. The other one is based on a step response and leaves the operator with just one parameter to tune. This rule makes it in fact easier to tune a PID controller than a PI controller close to the optimum. Furthermore, it is pointed out that a well tuned PID controller with a second order filter often offers the same performance to the same price in form of control activity as a modern H 1 controller. For a delayed plant a Smith predictor can be introduced. However, when a PI controller is used, it is shown to be more profitable to provide the controller with derivative action than with a Smith predictor. On the other hand, together with a PID controller the Smith predictor may improve performance to some extent for plants with moderate delays.

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Section: Some Results For Optimal Pi and Pid Controllersmentioning

confidence: 99%

“…Two classical measures are still common to characterize the mid frequency MF robustness, the phase margin ' m and the gain margin G m [59,18,11,15,41]. However, in recent years a restriction of the maximum sensitivity function…”

Section: Stability Marginmentioning

confidence: 99%

Evaluation and tuning of robust PID controllers

Lennartson

Kristiansson

2009

IET Control Theory Appl.

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“…The gain and phase margin conditions, the typical measures of robustness, are replaced by a condition on the closed-loop sensitivity inequality : (5) Inequality (3) is a more encompassing measure of robustness than gain and phase margin. It places a bound on the sensitivity at all frequencies, not just at the two frequencies associated with the gain and phase margins.…”

Section: Problem Statementmentioning

confidence: 99%

“…Ho et al [3], [4] reported tuning formulae for the design of PID controllers that satisfy both robustness and performance requirements. Crowe and Johnson [5] presented an automatic PI control design algorithm to satisfy gain and phase margin based on a converging algorithm. Suchomoski [6] developed a tuning method for PI and PID controllers that can shape the nominal stability, transient performance, and control signal to meet gain and phase margins.…”

Section: Introductionmentioning

confidence: 99%

Robust pi controller design satisfying sensitivity and uncertainty specifications

Yaniv

Nagurka

2003

IEEE Trans. Automat. Contr.

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This note presents a control design method for determining proportional-integral-type controllers satisfying specifications on gain margin, phase margin, and an upper bound on the (complementary) sensitivity for a finite set of plants. The approach can be applied to plants that are stable or unstable, plants given by a model or measured data, and plants of any order, including plants with delays. The algorithm is efficient and fast, and as such can be used in near real-time to determine controller parameters (for online modification of the plant model including its uncertainty and/or the specifications). The method gives an optimal controller for a practical definition of optimality. Furthermore, it enables the graphical portrayal of design tradeoffs in a single plot, highlighting the effects of the gain margin, complementary sensitivity bound, low frequency sensitivity and high frequency sensor noise amplification.Index Terms-Design, gain and phase margin, linear systems, proportional-integral (PI) control, robustness.

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“…Alternatively, a direct synthesis strategy may be used to determine the controller parameters. Such strategies may be defined in the time domain, possibly by using pole placement (Atherton 1999;Daley and Liu 1999;Jung et al 1999aJung et al , 1999bMajhi and Atherton 1999;Jaguste and Agnihotri 2002) or in the frequency domain, possibly by specifying a desired gain and/or phase margin (Fung et al 1998;Wang et al 1999bWang et al , 1999cGrassi et al 2001;Seki et al 2001;Crowe and Johnson 2002;Yang et al 2002b).…”

Section: Analytical Techniquesmentioning

confidence: 99%

PID compensation of time delayed processes 1998-2002: a survey

O’Dwyer¹

Proceedings of the 2003 American Control Conference, 2003.

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A time delay may be defined as the time interval between the start of an event at one point in a system and its resulting action at another point in the system. Delays are also known as transport lags or dead times; they arise in physical, chemical, biological and economic systems, as well as in the process of measurement and computation. Methods for the compensation of time delayed processes may be broadly divided into proportional integral derivative (PID) based controllers, in which the controller parameters are adapted to the controller structure, and structurally optimised controllers, in which the controller structure and parameters are adapted optimally to the structure and parameters of the process model. The purpose of this paper is to extract the essence of the developments in design, tuning and implementation of PID controllers for delayed processes over the five years 1998-2002, concentrating on journal publications. The paper will provide a framework against which the literature may be viewed.

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Towards autonomous PI control satisfying classical robustness specifications

Cited by 19 publications

References 2 publications

Evaluation and tuning of robust PID controllers

Evaluation and tuning of robust PID controllers

Robust pi controller design satisfying sensitivity and uncertainty specifications

PID compensation of time delayed processes 1998-2002: a survey

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