Download PDF by Victor M. Alfaro, Ramon Vilanova: Model-Reference Robust Tuning of PID Controllers

By Victor M. Alfaro, Ramon Vilanova

ISBN-10: 3319282115

ISBN-13: 9783319282114

ISBN-10: 3319282131

ISBN-13: 9783319282138

This booklet offers a unified technique for the layout of PID controllers that encompasses the wide variety of other dynamics to be present in business methods. this is often prolonged to supply a coherent method of facing the tuning of PID controllers. the actual process on the middle of the ebook is the so-called model-reference strong tuning (MoReRT), built by means of the authors. MoReRT constitutes a unique and strong state of mind of a strong layout and making an allowance for the standard layout trade-offs encountered in any keep an eye on layout problem.

The ebook begins through proposing the various two-degree-of-freedom PID keep an eye on set of rules adaptations and their conversion family in addition to the indexes used for functionality, robustness and fragility evaluation:the bases of the proposed version. Secondly, the MoReRT layout method and normalized managed technique versions and controllers utilized in the layout are defined on the way to facilitate the formula of the various layout difficulties and next derivation of tuning ideas. Inlater chapters the applying of MoReRT to over-damped, inverse-response, integrating and volatile tactics is defined. The booklet ends through providing 3 attainable extensions of the MoReRT technique, thereby beginning the door to new examine advancements. during this means, the e-book serves as a reference and resource e-book for educational researchers who can also reflect on it as a stimulus for brand new rules in addition to for business practitioners and brands of keep watch over structures who will locate acceptable complex strategies to many software problems.

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Example text

For tuning rules comparison, in addition to the quantitative performance and robustness indices and the responses shapes, the process control-oriented characteristics of the P I D2I F controllers must bring to the front. With the P I D2I F controllers there is not any abrupt change at the controller output when a step change is made on the set-point. To mimic this characteristic with a 2DoF PID controller its proportional set-point weight β must be made zero. With this, the second degree of freedom is lost and the servo-control response delayed.

12) for design parameters θd selected in such a way that the control system robustness matches a target value (robust design) measured using the maximum sensitivity, M S . The performance/robustness trade-off in PID controller design is a well-known issue and the M S has become the de facto robustness measure [3]. Robustness requirements are related with the expected changes in the controlled process dynamics from the nominal model used for controller tuning. An a priori evaluation of this requirement is needed to state the minimum robustness level desired for the designed control system.

1 Introduction Consider the general two-degree-of-freedom closed-loop control system depicted in Fig. 1 where P(s) and {Cr (s), C y (s)} are the controlled process model and the controller transfer functions, respectively. In this system, r (s) is the set-point, u(s) the controller output signal, d(s) the disturbance, y(s) the process controlled variable, and n(s) the measurement noise. It is assumed that the disturbance enters at the process input (load-disturbance). Controlled process model parameters are θ p .

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Model-Reference Robust Tuning of PID Controllers by Victor M. Alfaro, Ramon Vilanova

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