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Robustness versus performance tradeoffs in PID tuning Open Access


Other title
Negative derivative action
Robustness and Performance tradeoff
Servo and regulatory control
ZNIMC tuning rule
TUNIX simulation package
PID controller tuning
setpoint tracking
Process abnormality
Process control
Continuous stirred tank heater (CSTH) pilot
First order plus time delay (FOPTD) model
Valve stiction
disturbance rejection
Model plant mismatch (MPM)
Type of item
Degree grantor
University of Alberta
Author or creator
Amiri, Mohammad Sadegh
Supervisor and department
Shah, Sirish L. (Chemical and Materials Engineering)
Examining committee member and department
Dubljevic, S. (Chemical and Materials Engineering)
Koch, C. R. (Mechanical Engineering)
Department of Chemical and Materials Engineering

Date accepted
Graduation date
Master of Science
Degree level
Proportional, integral and derivative (PID) controller tuning guidelines in process industry have been in place for over six decades. Nevertheless despite their long design history PID tuning has remained an β€˜art’ and no single comprehensive solution yet exists. In this study various considerations, with new and different perspectives, have been taken into account in PID tuning design. This study explores the issue of PID tuning from a practical point of view with particular focus on robust design in the presence of typical problems in process industry: process changes, valve stiction effects and unmeasured disturbances. The IMC tuning rule is recommended for setpoint tracking, while in the case of regulation, a newly proposed tuning rule, based on a combination of IMC and Ziegler-Nichols method, is demonstrated to give satisfactory results. The results were evaluated by simulation and were also validated on a computer-interfaced pilot scale continuous stirred tank heater (CSTH) process.
Permission is hereby granted to the University of Alberta Libraries to reproduce single copies of this thesis and to lend or sell such copies for private, scholarly or scientific research purposes only. Where the thesis is converted to, or otherwise made available in digital form, the University of Alberta will advise potential users of the thesis of these terms. The author reserves all other publication and other rights in association with the copyright in the thesis and, except as herein before provided, neither the thesis nor any substantial portion thereof may be printed or otherwise reproduced in any material form whatsoever without the author's prior written permission.
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