Extension of IMC tuning correlations for non-self regulating (integrating) processes

The filter term of a PID with Filter controller reduces the impact of measurement noise on the derivative action of the controller. This impact is quantified by the controller output travel defined as the total movement of the controller output per unit time. Decreasing controller output travel is i...

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Bibliographic Details
Published in:ISA transactions 2007-06, Vol.46 (3), p.303-311
Main Authors: Arbogast, Jeffrey E., Cooper, Douglas J.
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control theory. Systems
Exact sciences and technology
Filter
General equipment and techniques
IMC tuning
Instruments, apparatus, components and techniques common to several branches of physics and astronomy
Integrating process
Physics
PID
Servo and control equipment
robots
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Summary:The filter term of a PID with Filter controller reduces the impact of measurement noise on the derivative action of the controller. This impact is quantified by the controller output travel defined as the total movement of the controller output per unit time. Decreasing controller output travel is important to reduce wear in the final control element. Internal Model Control (IMC) tuning correlations are widely published for PI, PID, and PID with Filter controllers for self regulating processes. For non-self regulating (or integrating) processes, IMC tuning correlations are published for PI and PID controllers but not for PID with Filter controllers. The important contribution of this work is that it completes the set of IMC tuning correlations with an extension to the PID with Filter controller for non-self regulating processes. Other published correlations (not based upon the IMC framework) for PID with Filter controllers fix the filter time constant at one-tenth the derivative time regardless of the model of the process. In contrast, the novel IMC correlations presented in this paper calculate a filter time constant based upon the model of the process and the user’s choice for the closed-loop time constant. The set point tracking and disturbance rejection performance of the proposed IMC tunings is demonstrated using simulation studies and a bench-scale experimental system. The proposed IMC tunings are shown to perform as well as various PID correlations (with and without a filter term) while requiring considerably less controller action.
ISSN:0019-0578
1879-2022
DOI:10.1016/j.isatra.2007.01.004