Robust design of PID controller from process static gain and one point of frequency response
The first aim of this paper is to present an explicit parametrization of the value set boundary for a process-control-oriented model family consistent with the process gain and one point of the process frequency response obtained from a relay experiment. The second aim is to develop new PID design rules based on this parameterization. Moreover, the design procedure is converted to the suitable form for autotuning purposes.
It is well known from the classical control theory that process controllers can be designed on the base of a few points of the process frequency response. In this direction, the limit method is the popular Ziegler-Nichols frequency method which uses only one so called ultimate point. However, these traditional methods are neither systematic nor guarantee fulfillment of design specifications for an exactly given class of process transfer functions. In this paper, a novel approach to the above problem is presented. The key feature in the problem formulation is a new form of a priori information about the class of candidate models.
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