Handbook of PI and PID controller tuning rules
The vast majority of automatic controllers used to compensate industrial processes are PI or PID type. This book comprehensively compiles, using a unified notation, tuning rules for these controllers proposed from 1935 to 2008. The tuning rules are carefully categorized and application information a...
Saved in:
| Main Author: | |
|---|---|
| Format: | eBook Book |
| Language: | English |
| Published: |
London
World Scientific Publishing Co. Pte. Ltd
2009
World Scientific Imperial College Press World Scientific Publishing Company PUBLISHED BY IMPERIAL COLLEGE PRESS AND DISTRIBUTED BY WORLD SCIENTIFIC PUBLISHING CO |
| Edition: | 3rd ed. |
| Subjects: | |
| ISBN: | 9781848162433, 184816243X, 9781848162426, 1848162421 |
| Online Access: | Get full text |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
Table of Contents:
- Handbook of PI and PID controller tuning rules -- Dedication -- Preface -- Contents -- Chapter 1: Introduction -- Chapter 2: Controller Architecture -- Chapter 3: Controller Tuning Rules for Self-Regulating Process Models -- Chapter 4: Controller Tuning Rules for Non-Self-Regulating Process Models -- Chapter 5: Performance and Robustness Issues in the Compensation of FOLPD Processes with PI and PID Controllers -- Appendix 1: Glossary of Symbols and Abbreviations -- Appendix 2: Some Further Details on Process Modelling -- Bibliography -- Index.
- Title Page Preface Table of Contents 1. Introduction 2. Controller Architecture 3. Controller Tuning Rules for Self-Regulating Process Models 4. Controller Tuning Rules for Non-Self-Regulating Process Models 5. Performance and Robustness Issues in the Compensation of FOLPD Processes with PI and PID Controllers Appendices Bibliography Index
- 3.6 SOSPD Model with a Zero -- 3.6.1 Ideal PI controller - Table 28 -- 3.6.2 Ideal PID controller - Table 29 -- 3.6.3 Ideal controller in series with a first order lag - Table 30 -- 3.6.4 Controller with filtered derivative - Table 31 -- 3.6.5 Classical controller - Table 32 -- 3.6.6 Generalised classical controller - Table 33 -- 3.6.7 Two degree of freedom controller 1 - Table 34 -- 3.6.8 Two degree of freedom controller 3 - Table 35 -- 3.7 TOSPD Model -- 3.7.1 Ideal PI controller - Table 36 -- 3.7.2 Ideal PID controller - Table 37 -- 3.7.3 Ideal controller in series with a first order lag - Table 38 -- 3.7.4 Controller with filtered derivative - Table 39 -- 3.7.5 Two degree of freedom controller 1 - Table 40 -- 3.7.6 Two degree of freedom controller 3 - Table 41 -- 3.8 Fifth Order System Plus Delay Model -- 3.8.1 Ideal PID controller - Table 42 -- 3.8.2 Controller with filtered derivative - Table 43 -- 3.8.3 Two degree of freedom controller 1 - Table 44 -- 3.9 General Model -- 3.9.1 Ideal PI controller - Table 45 -- 3.9.2 Ideal PID controller - Table 46 -- 3.9.3 Ideal controller in series with a first order lag - Table 47 -- 3.9.4 Controller with filtered derivative - Table 48 -- 3.9.5 Two degree of freedom controller 1 - Table 49 -- 3.10 Non-Model Specific -- 3.10.1 Ideal PI controller - Table 50 -- 3.10.2 Ideal PID controller - Table 51 -- 3.10.3 Ideal controller in series with a first order lag- Table 52 -- 3.10.4 Controller with filtered derivative - Table 53 -- 3.10.5 Classical controller - Table 54 -- 3.10.6 Generalised classical controller - Table 55 -- 3.10.7 Two degree of freedom controller 1 - Table 56 -- 3.10.8 Two degree of freedom controller 3 - Table 57 -- 4. Controller Tuning Rules for Non-Self-Regulating Process Models -- 4.1 IPD Model -- 4.1.1 Ideal PI controller - Table 58 -- 4.1.2 Ideal PID controller - Table 59
- 5.5 Design of Tuning Rules to Achieve Constant Gain and Phase Margins, for All Values of Delay -- 5.5.1 PI controller design -- 5.5.1.1 Processes modelled in FOLPD form -- 5.5.1.2 Processes modelled in IPD form -- 5.5.2 PID controller design -- 5.5.2.1 Processes modelled in FOLPD form - classical controller -- 5.5.2.2 Processes modelled in SOSPD form - series controller -- 5.5.2.3 Processes modelled in SOSPD form with a negative zero - classical controller -- 5.5.3 PD controller design -- 5.6 Conclusions -- Appendix 1 Glossary of Symbols and Abbreviations -- Appendix 2 Some Further Details on Process Modelling -- Bibliography -- Index
- Intro -- Contents -- Preface -- 1. Introduction -- 1.1 Preliminary Remarks -- 1.2 Structure of the Book -- 2. Controller Architecture -- 2.1 Introduction -- 2.2 Comments on the PID Controller Structures -- 2.3 Process Modelling -- 2.3.1 Self-regulating process models -- 2.3.2 Non-self-regulating process models -- 2.4 Organisation of the Tuning Rules -- 3. Controller Tuning Rules for Self-Regulating Process Models -- 3.1 Delay Model -- 3.1.1 Ideal PI controller - Table 2 -- 3.1.2 Ideal PID controller - Table 3 -- 3.1.3 Ideal controller in series with a first order lag - Table 4 -- 3.1.4 Classical controller - Table 5 -- 3.1.5 Generalised classical controller - Table 6 -- 3.1.6 Two degree of freedom controller 1 - Table 7 -- 3.2 Delay Model with a Zero -- 3.2.1 Ideal PI controller - Table 8 -- 3.3 FOLPD Model -- 3.3.1 Ideal PI controller - Table 9 -- 3.3.2 Ideal PID controller - Table 10 -- 3.3.3 Ideal controller in series with a first order lag - Table 11 -- 3.3.4 Controller with filtered derivative - Table 12 -- 3.3.5 Classical controller - Table 13 -- 3.3.6 Generalised classical controller - Table 14 -- 3.3.7 Two degree of freedom controller 1 - Table 15 -- 3.3.8 Two degree of freedom controller 2 - Table 16 -- 3.3.9 Two degree of freedom controller 3 - Table 17 -- 3.4 FOLPD Model with a Zero -- 3.4.1 Ideal PI controller - Table 18 -- 3.4.2 Ideal controller in series with a first order lag - Table 19 -- 3.5 SOSPD Model -- 3.5.1 Ideal PI controller - Table 20 -- 3.5.2 Ideal PID controller - Table 21 -- 3.5.3 Ideal controller in series with a first order lag - Table 22 -- 3.5.4 Controller with filtered derivative - Table 23 -- 3.5.5 Classical controller - Table 24 -- 3.5.6 Generalised classical controller - Table 25 -- 3.5.7 Two degree of freedom controller 1 - Table 26 -- 3.5.8 Two degree of freedom controller 3 - Table 27
- 4.1.3 Ideal controller in series with a first order lag - Table 60 -- 4.1.4 Controller with filtered derivative - Table 61 -- 4.1.5 Classical controller - Table 62 -- 4.1.6 Generalised classical controller - Table 63 -- 4.1.7 Two degree of freedom controller 1 - Table 64 -- 4.1.8 Two degree of freedom controller 2 - Table 65 -- 4.1.9 Two degree of freedom controller 3 - Table 66 -- 4.2 IPD Model with a Zero -- 4.2.1 Ideal PI controller - Table 67 -- 4.3 FOLIPD Model -- 4.3.1 Ideal PI controller - Table 68 -- 4.3.2 Ideal PID controller - Table 69 -- 4.3.3 Ideal controller in series with a first order lag - Table 70 -- 4.3.4 Controller with filtered derivative - Table 71 -- 4.3.5 Classical controller - Table 72 -- 4.3.6 Generalised classical controller - Table 73 -- 4.3.7 Two degree of freedom controller 1 - Table 74 -- 4.3.8 Two degree of freedom controller 2 - Table 75 -- 4.3.9 Two degree of freedom controller 3 - Table 76 -- 4.4 FOLIPD Model with a Zero -- 4.4.1 Ideal PID controller - Table 77 -- 4.4.2 Ideal controller in series with a first order lag - Table 78 -- 4.4.3 Classical controller - Table 79 -- 4.5 PD I2 Model -- 4.5.1 Ideal PID controller - Table 80 -- 4.5.2 Classical controller - Table 81 -- 4.5.3 Two degree of freedom controller 1 - Table 82 -- 4.5.4 Two degree of freedom controller 2 - Table 83 -- 4.5.5 Two degree of freedom controller 3 - Table 84 -- 4.6 SOSIPD Model -- 4.6.1 Ideal PI controller - Table 85 -- 4.6.2 Two degree of freedom controller 1 - Table 86 -- 4.7 SOSIPD Model with a Zero -- 4.7.1 Classical controller - Table 87 -- 4.8 TOSIPD Model -- 4.8.1 Two degree of freedom controller 1 - Table 88 -- 4.9 General Model with Integrator -- 4.9.1 Ideal PI controller - Table 89 -- 4.9.2 Two degree of freedom controller 1 - Table 90 -- 4.10 Unstable FOLPD Model -- 4.10.1 Ideal PI controller - Table 91
- 4.10.2 Ideal PID controller - Table 92 -- 4.10.3 Ideal controller in series with a first order lag - Table 93 -- 4.10.4 Classical controller - Table 94 -- 4.10.5 Generalised classical controller - Table 95 -- 4.10.6 Two degree of freedom controller 1 - Table 96 -- 4.10.7 Two degree of freedom controller 2 - Table 97 -- 4.10.8 Two degree of freedom controller 3 - Table 98 -- 4.11 Unstable FOLPD Model with a Zero -- 4.11.1 Ideal PI controller - Table 99 -- 4.11.2 Ideal controller in series with a first order lag - Table 100 -- 4.11.3 Generalised classical controller - Table 101 -- 4.11.4 Two degree of freedom controller 1 - Table 102 -- 4.12 Unstable SOSPD Model (one unstable pole) -- 4.12.1 Ideal PI controller - Table 103 -- 4.12.2 Ideal PID controller - Table 104 -- 4.12.3 Ideal controller in series with a first order lag - Table 105 -- 4.12.4 Classical controller - Table 106 -- 4.12.5 Two degree of freedom controller 1 - Table 107 -- 4.12.6 Two degree of freedom controller 3 - Table 108 -- 4.13 Unstable SOSPD Model (two unstable poles) -- 4.13.1 Ideal PID controller - Table 109 -- 4.13.2 Generalised classical controller - Table 110 -- 4.13.3 Two degree of freedom controller 2 - Table 111 -- 4.14 Unstable SOSPD Model with a Zero -- 4.14.1 Ideal PI controller - Table 112 -- 4.14.2 Ideal controller in series with a first order lag - Table 113 -- 4.14.3 Generalised classical controller - Table 114 -- 4.14.4 Two degree of freedom controller 1 - Table 115 -- 4.14.5 Two degree of freedom controller 3 - Table 116 -- 5. Performance and Robustness Issues in the Compensation of FOLPD Processes with PI and PID Controllers -- 5.1 Introduction -- 5.2 The Analytical Determination of Gain and Phase Margin -- 5.2.1 PI tuning formulae -- 5.2.2 PID tuning formulae -- 5.3 The Analytical Determination of Maximum Sensitivity -- 5.4 Simulation Results