Evaluation and simple tuning of PID controllers with high-frequency robustness |
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Authors: | Birgitta Kristiansson Bengt Lennartson |
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Affiliation: | Department of Signals and Systems, Chalmers University of Technology, SE-412 96 Göteborg, Sweden |
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Abstract: | An extensive study of robust and optimal tuning of PID controllers for stable non-oscillating plants is presented. It is built on a set of well defined criteria related to output performance, stability margins and control activity. Different interesting properties of the closed loop systems are observed. A set of simple tuning rules is based on these observations. These rules are compared to a couple of well established tuning methods and are shown to give well competitive results, especially when simplicity, low control activity and high-frequency robustness are emphasized. Derivative action is shown to improve performance significantly compared to PI control, with equal stability margin and a moderate increase of control activity, for most plants, including those with significant time delay. |
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Keywords: | PID control Robustness Optimization Optimal systems Time delay |
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