HANDBOOK OF PI AND PID CONTROLLER TUNING RULES
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1 HANDBOOK OF PI AND PID CONTROLLER TUNING RULES 3rd Edition Aidan O'Dwyer Dublin Institute of Technology, Ireland Imperial College Press
2 Contents Preface vii 1. Introduction Preliminary Remarks Structure of the Book 2 2. Controller Architecture Introduction Comments on the PID Controller Structures Process Modelling Self-regulating process models Non-self-regulating process models Organisation of the Tuning Rules Controller Tuning Rules for Self-Regulating Process Models Delay Model Ideal PI controller - Table Ideal PID controller - Table Ideal controller in series with a first order lag - Table Classical controller - Table Generalised classical controller - Table Two degree of freedom controller 1 -Table Delay Model with a Zero Ideal PI controller - Table FOLPD Model Ideal PI controller - Table Ideal PID controller-table Ideal controller in series with a first order lag - Table Controller with filtered derivative - Table Classical controller-table Generalised classical controller - Table Two degree of freedom controller 1 - Table Two degree of freedom controller 2-Table Two degree of freedom controller 3-Table ix
3 x Handbook of PI and PID Controller Tuning Rules 3.4 FOLPD Model with a Zero Ideal PI controller - Table Ideal controller in series with a first order lag-table SOSPD Model Ideal PI controller - Table Ideal PID controller-table Ideal controller in series with a first order lag - Table Controller with filtered derivative - Table Classical controller-table Generalised classical controller - Table Two degree of freedom controller 1 - Table Two degree of freedom controller 3 - Table SOSPD Model with a Zero Ideal PI controller-table Ideal PID controller - Table Ideal controller in series with a first order lag - Table Controller with filtered derivative - Table Classical controller - Table Generalised classical controller - Table Two degree of freedom controller 1 - Table Two degree of freedom controller 3-Table TOSPD Model Ideal PI controller - Table Ideal PID controller - Table Ideal controller in series with a first order lag - Table Controller with filtered derivative - Table Two degree of freedom controller 1 - Table Two degree of freedom controller 3 - Table Fifth Order System Plus Delay Model Ideal PID controller - Table Controller with filtered derivative - Table Two degree of freedom controller 1 -Table General Model Ideal PI controller - Table Ideal PID controller - Table Ideal controller in series with a first order lag - Table Controller with filtered derivative - Table Two degree of freedom controller 1 -Table Non-Model Specific Ideal PI controller - Table Ideal PID controller-table Ideal controller in series with a first order lag- Table Controller with filtered derivative - Table Classical controller-table Generalised classical controller - Table
4 Contents xi Two degree of freedom Controller 1 -Table Two degree of freedom controller 3 -Table Controller Tuning Rules for Non-Self-Regulating Process Models IPD Model Ideal PI controller-table Ideal PID controller-table Ideal controller in series with a first order lag - Table Controller with filtered derivative-table Classical controller - Table Generalised classical controller - Table Two degree of freedom controller 1 -Table Two degree of freedom controller 2 -Table Two degree of freedom controller 3 -Table IPD Model with a Zero Ideal PI controller - Table FOLIPD Model Ideal PI controller-table Ideal PID controller - Table Ideal controller in series with a first order lag - Table Controller with filtered derivative-table Classical controller - Table Generalised classical controller - Table Two degree of freedom controller 1 - Table Two degree of freedom controller 2 - Table Two degree of freedom controller 3 - Table FOLIPD Model with a Zero Ideal PID controller - Table Ideal controller in series with a first order lag - Table Classical controller - Table I 2 PD Model Ideal PID controller - Table Classical controller-table Two degree of freedom controller 1 - Table Two degree of freedom controller 2 - Table Two degree of freedom controller 3 - Table SOSIPD Model Ideal PI controller - Table Two degree of freedom controller 1 -Table SOSIPD Model with a Zero Classical controller - Table TOSIPD Model Two degree of freedom controller 1-Table
5 xii Handbook of PI and PID Controller Tuning Rules 4.9 General Model with Integrator Ideal PI controller-table Two degree of freedom controller 1 - Table Unstable FOLPD Model Ideal PI controller-table Ideal PID controller - Table Ideal controller in series with a first order lag - Table Classical controller - Table Generalised classical controller - Table Two degree of freedom controller 1 -Table Two degree of freedom controller 2 - Table Two degree of freedom controller 3 - Table Unstable FOLPD Model with a Zero Ideal PI controller - Table Ideal controller in series with a first order lag - Table Generalised classical controller-table Two degree of freedom controller 1-Table Unstable SOSPD Model (one unstable pole) Ideal PI controller-table Ideal PID controller - Table Ideal controller in series with a first order lag - Table Classical controller - Table Two degree of freedom controller 1 - Table Two degree of freedom controller 3 - Table Unstable SOSPD Model (two unstable poles) Ideal PID controller-table Generalised classical controller - Table Two degree of freedom controller 2 - Table Unstable SOSPD Model with a Zero Ideal PI controller - Table Ideal controller in series with a first order lag-table Generalised classical controller-table Two degree of freedom controller 1 -Table Two degree of freedom controller 3 - Table Performance and Robustness Issues in the Compensation of FOLPD Processes with PI and PID Controllers Introduction The Analytical Determination of Gain and Phase Margin PI tuning formulae PID tuning formulae The Analytical Determination of Maximum Sensitivity Simulation Results 529
6 Contents xiii 5.5 Design of Tuning Rules to Achieve Constant Gain and Phase Margins, for All Values of Delay PI controller design Processes modelled in FOLPD form Processes modelled in IPD form PID controller design Processes modelled in FOLPD form-classical controller Processes modelled in SOSPD form - series controller Processes modelled in SOSPD form with a negative zero - classical controller PD controller design Conclusions 543 Appendix 1 Glossary of Symbols and Abbreviations 544 Appendix 2 Some Further Details on Process Modelling 551 Bibliography 565 Index 599
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