Validation of a multivariable relay-based PID autotuner with specified robustness

Abstract

This paper presents a multivariable relay-based PID autotuning strategy, which ensures a specified modulus margin (i.e. robustness). The algorithm is applied on the coupled quadruple tanks from Quanser. The system is challenging for control since it presents non-minimum phase transmission zeros. The performance of the autotuner is validated against a computer-aided design tool based on the frequency response, i.e. FRTool. The experimental results suggest that the proposed autotuning procedure has similar performance as the control design based on full knowledge of the system. This is a remarkable conclusion and provides a good motivation to claim that our algorithm may be useful in chemical process applications where full knowledge of the systems model is still a burden for the control engineer.

An Experimental Tuning Approach of Fractional Order Controllers in the Frequency Domain

“…However, there is no guarantee that the obtained controller is the ideal one. Experimental methods such as the well-known Ziegler Nichols, Kappa-Tau method, Cohen-Coon , Tyreus-Luyben, Ciancone, and Marlin tune classical proportional-integral-derivative (PID) controllers based on measurements of the different dynamics of the process response [1][2][3][4][5]. In most cases, the controllers tuned using experimental procedures lead to a closed loop system with poor robustness performance [6].…”