PID  CONTROLLER LABORATORY

This paper is focused on iterative tuning of the 2DOF PID controller to minimize given quadratic cost function of the system output error and control effort.

This paper is focused on iterative tuning of the 2DOF PID controller to minimize given quadratic cost function of the system output error and control effort. The main ideas of Iterative Feedback Tuning are introduced and some important modification to model-free iterative PID controller design is presented. In particular, the tuning process is divided into two parts. Firstly, the classical 1DOF PID controller is iteratively tuned. The integral and derivative time constants are not tuned independently of each other, but they are related by a ratio coefficient to avoid cancellation of the derivative part of the controller even in a low noise environment. The remaining parameters of 2DOF PID are then tuned independently in the next iterative procedure. Theoretical results are verified using a laboratory coupled tanks model.

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