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Traditionally the control problem has been tackled from a reductionist point of view. The complex whole problem has been divided in smaller more manageable subproblems (e.g. model identification, control structure selection, control design, etc). However this presents several problems: i) issues arising from the interrelation between subproblems of the reductionist approach are neglected, ii) recent...
This communication addresses the problem of tuning a PID controller for step response. The tuning is based upon a first order plus time delay (FOPTD) model and aims to achieve a step response specification while taking into account robustness considerations. The industrial ISA-PID formulation is chosen. A tuning rule is derived first where the four parameters of the ISA-PID are determined by means...
This communication deals with the realization of a two-degree-of-freedom (2-DOF) compensator. The well known properties and advantages of such compensators are reviewed as well as different ways of realize them. The advantages of using a 2-DOF compensator are well known: the closed loop properties can be shaped independently of the reference tracking transfer function. This is why we can talk about...
The use of optimization is an alternative to the well-known automatic PID tuning rules. However, for a proper approach to the optimization problem, the stability of the resulting closed-loop must be guaranteed. A framework for the PID parameter optimization, with stability guarantees, is proposed in this paper. The framework is intended to be used to refine an initial choice for the PID parameters...
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