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9781860943423

Handbook of Pi and Pid Controller Tuning Rules

by O'Dwyer, Aidan
  • ISBN13:

    9781860943423

  • ISBN10:

    186094342X

  • eBook ISBN(s):

    9781848164550

  • Format: Hardcover
  • Copyright: 2003-05-01
  • Publisher: Imperial College Pr
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Summary

This book presents tuning rules for PI and PID controllers for processes with time delay. It comprehensively compiles, using a unified notation, the tuning rules proposed over six decades (19422002); categorises the tuning rules and gives application information about each rule; and discusses controller architecture and process modelling issues, and the performance and robustness of loops compensated with PI or PID controllers.The book will be useful to practitioners in control and instrument engineering, as well as students and educators in technical colleges and universities.

Table of Contents

Preface vii
Introduction
1(4)
Preliminary remarks
1(2)
Structure of the book
3(2)
References
4(1)
Controller Architecture
5(14)
Introduction
5(1)
PI controller structures
5(1)
PID controller structures
6(6)
Ideal PID controller structure and its variations
6(2)
Classical PID controller structure and its variations
8(1)
Non-interacting PID controller structure and its variations
9(2)
Other PID controller structures
11(1)
Comments on the PID controller structures
12(1)
Process modelling
12(4)
Organisation of the tuning rules
16(3)
References
16(3)
Tuning Rules for PI Controllers
19(88)
FOLPD model
19(32)
Ideal controller --- Table 5
19(27)
Ideal controller in series with a first order filter --- Table 6
46(1)
Ideal controller in series with a second order filter --- Table 7
47(1)
Controller with set-point weighting --- Table 8
48(2)
Controller with proportional term acting on the output --- Table 9
50(1)
Non-model specific
51(4)
Ideal controller --- Table 10
51(3)
Controller with set-point weighting --- Table 11
54(1)
IPD model
55(10)
Ideal controller --- Table 12
55(6)
Ideal controller in series with a first order filter --- Table 13
61(1)
Controller with set-point weighting --- Table 14
62(2)
Controller with proportional term acting on the output --- Table 15
64(1)
FOLIPD model
65(4)
Ideal controller --- Table 16
65(2)
Controller with set-point weighting --- Table 17
67(2)
SOSPD model
69(17)
Ideal controller --- Table 18
69(14)
Controller with set-point weighting --- Table 19
83(3)
SOSIPD model --- repeated pole
86(2)
Controller with set-point weighting --- Table 20
86(2)
SOSPD model with a positive zero
88(1)
Ideal controller --- Table 21
88(1)
Third order system plus time delay model
89(4)
Ideal controller --- Table 22
89(1)
Controller with set-point weighting --- Table 23
90(1)
Third order lag plus time delay (TOLPD) model --- ideal controller --- Table 24
91(1)
TOLPD model --- repreated pole --- controller with set-point weighting --- Table 25
92(1)
Unstable FOLPD model
93(3)
Ideal controller --- Table 26
93(3)
Unstable SOSPD model (one unstable pole)
96(2)
Ideal controller --- Table 27
96(2)
Delay model
98(2)
Ideal controller --- Table 28
98(2)
General model with integrator
100(7)
Ideal controller --- Table 29
100(2)
References
102(5)
Tuning Rules for PID Controllers
107(224)
FOLPD model
107(61)
Ideal controller --- Table 30
107(23)
Ideal controller in series with a first order lag --- Table 31
130(2)
Ideal controller in series with a second order filter --- Table 32
132(1)
Ideal controller with weighted proportional term --- Table 33
133(1)
Ideal controller with first order filter and set-point weighting 1 --- Table 34
134(1)
Controller with filtered derivative --- Table 35
135(3)
Classical controller 1 --- Table 36
138(11)
Series controller (classical controller 3) --- Table 37
149(2)
Classical controller 4 --- Table 38
151(1)
Non-interacting controller 1 --- Table 39
152(1)
Non-interacting controller 2a --- Table 40
153(3)
Non-interacting controller 2b --- Table 41
156(3)
Non-interacting controller based on the two degree of freedom structure --- Table 42
159(3)
Non-interacting controller 4 --- Table 43
162(2)
Non-interacting controller 6 (I-PD controller) --- Table 44
164(1)
Industrial controller --- Table 45
165(3)
Non-model specific
168(19)
Ideal controller --- Table 46
168(4)
Ideal controller with weighted proportional term --- Table 47
172(1)
Controller with filtered derivative --- Table 48
173(8)
Ideal controller with set-point weighting --- Table 49
181(1)
Classical controller 1 --- Table 50
182(1)
Series controller (classical controller 3) --- Table 51
183(2)
Classical controller 4 --- Table 52
185(1)
Non-interacting controller 4 --- Table 53
186(1)
IPD model
187(13)
Ideal controller --- Table 54
187(3)
Ideal controller with first order filter and set-point weighting 2 --- Table 55
190(1)
Controller with filtered derivative --- Table 56
191(2)
Classical controller 1 --- Table 57
193(2)
Classical controller 4 --- Table 58
195(1)
Non-interacting controller based on the two degree of freedom structure --- Table 59
196(2)
Non-interacting controller 4 --- Table 60
198(1)
Non-interacting controller 6 (I-PD controller) --- Table 61
199(1)
FOLIPD model
200(18)
Ideal controller --- Table 62
200(3)
Ideal controller in series with a first order lag --- Table 63
203(2)
Ideal controller with weighted proportional term --- Table 64
205(1)
Controller with filtered derivative --- Table 65
206(2)
Ideal controller with set-point weighting --- Table 66
208(1)
Classical controller 1 --- Table 67
209(3)
Classical controller 4 --- Table 68
212(1)
Non-interacting controller based on the two degree of freedom structure --- Table 69
213(2)
Non-interacting controller 4 --- Table 70
215(1)
Alternative controller 1 --- Table 71
216(1)
Alternative controller 2 --- Table 72
217(1)
SOSPD model
218(45)
Ideal controller --- Table 73
218(16)
Ideal controller in series with a first order lag --- Table 74
234(1)
Ideal controller in series with a first order filter --- Table 75
235(1)
Controller with filtered derivative --- Table 76
236(2)
Ideal controller with set-point weighting --- Table 77
238(1)
Classical controller 1 --- Table 78
239(4)
Classical controller 2 --- Table 79
243(1)
Series controller (classical controller 3) --- Table 80
244(1)
Non-interacting controller 1 --- Table 81
245(10)
Non-interacting controller based on the two degree of freedom structure --- Table 82
255(5)
Non-interacting controller 4 --- Table 83
260(2)
Non-interacting controller 5 --- Table 84
262(1)
I2PD model
263(1)
Non-interacting controller based on the two degree of freedom structure --- Table 85
263(1)
SOSIPD model (repeated pole)
264(2)
Non-interacting controller based on the two degree of freedom structure --- Table 86
264(2)
SOSPD model with a positive zero
266(9)
Ideal controller --- Table 87
266(2)
Controller with filtered derivative --- Table 88
268(2)
Classical controller 1 --- Table 89
270(2)
Classical controller 4 --- Table 90
272(1)
Non-interacting controller 1 --- Table 91
273(1)
Non-interacting controller based on the two degree of freedom structure --- Table 92
274(1)
SOSPD model with a negative zero
275(7)
Ideal controller --- Table 93
275(1)
Controller with filtered derivative --- Table 94
276(2)
Classical controller 1 --- Table 95
278(1)
Classical controller 4 --- Table 96
279(1)
Non-interacting controller 1 --- Table 97
280(1)
Non-interacting controller based on the two degree of freedom structure --- Table 98
281(1)
TOLPD model
282(3)
Ideal controller --- Table 99
282(1)
Non-interacting controller based on the two degree of freedom structure --- Table 100
283(2)
Unstable FOLPD model
285(13)
Ideal controller --- Table 101
285(4)
Ideal controller with set-point weighting --- Table 102
289(4)
Classical controller 1 --- Table 103
293(1)
Non-interacting controller 3 --- Table 104
294(2)
Non-interacting controller 8 --- Table 105
296(2)
Unstable SOSPD model (one unstable pole)
298(16)
Ideal controller --- Table 106
298(2)
Ideal controller with set-point weighting --- Table 107
300(1)
Classical controller 1 --- Table 108
301(1)
Series controller (classical controller 3) --- Table 109
302(1)
Non-interacting controller 3 --- Table 110
303(8)
Non-interacting controller 7 --- Table 111
311(3)
Unstable SOSPD model (two unstable poles)
314(2)
Ideal controller --- Table 112
314(1)
Ideal controller with set-point weighting --- Table 113
315(1)
General model with a repeated pole
316(1)
Ideal controller --- Table 114
316(1)
General stable non-oscillating model with a time delay
317(1)
Ideal controller --- Table 115
317(1)
Fifth order model with delay
318(13)
Ideal controller --- Table 116
318(2)
Controller with filtered derivative --- Table 117
320(3)
References
323(8)
Performance and Robustness Issues in the Compensation of FOLPD Processes with PI and PID Controllers
331(20)
Introduction
331(1)
The analytical determination of gain margin and phase margin
331(6)
PI tuning formulae
331(3)
PID tuning formulae
334(3)
The analytical determination of maximum sensitivity
337(1)
Simulation results
338(4)
Design of tuning rules to achieve constant gain and phase margins for all values of delay
342(7)
PI controller design
342(1)
Processes modelled in FOLPD form
342(2)
Processes modelled in IPD form
344(2)
PID controller design
346(1)
Processes modelled in FOLPD form --- classical controller 1
346(2)
Processes modelled in SOSPD form --- series PID controller
348(1)
Processes modelled in SOSPD form with a negative zero --- classical controller 1
348(1)
PD controller design
349(1)
Conclusions
349(2)
References
350(1)
Appendix 1: Glossary of symbols used in the book 351(6)
Appendix 2: Some further details on process modelling 357(12)
Index 369

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