OPTIMAL TUNING OF PID CONTROLLERS WITH SPECIFIED GAIN AND PHASE MARGINS

A standard PID controller has three adjustable parameters, i.e., the proportional gain and the integral and derivative time constants. Usually, conventional frequency domain techniques of single-loop feedback control design use only gain and phase margin specifications to determine these parameters....

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Bibliographic Details
Published in:Chemical engineering communications 2004-09, Vol.191 (9), p.1208-1233
Main Authors: HWANG, JYH-HAUR, TSAY, SUN-YUAN, HWANG, CHYI
Format: Article
Language:English
Subjects:
Gain margin
Integral performance index
Phase margin
PID controller
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Summary:A standard PID controller has three adjustable parameters, i.e., the proportional gain and the integral and derivative time constants. Usually, conventional frequency domain techniques of single-loop feedback control design use only gain and phase margin specifications to determine these parameters. As a result, there remains one degree of freedom in selecting controller parameters to meet the specification of gain and phase margins. Motivated by the availability of analytical and/or efficient numerical methods of computing integral of square error (ISE) for systems with/without a time delay, we suggest in this article adjusting the remaining degree of freedom in the PID parameters to minimize a quadratic cost functional. Instead of solving a constrained nonlinear optimization problem, we formulate the design problem in a way such that it can be easily solved by a path-following algorithm while giving the global optimum.
ISSN:0098-6445
1563-5201
DOI:10.1080/00986440490464066