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Robustness versus performance tradeoffs in PID tuning
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- Author / Creator
- Amiri, Mohammad Sadegh
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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 ‘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.
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- Subjects / Keywords
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- OPC
- Disturbance rejection
- Process abnormality
- Servo and regulatory control
- First order plus time delay (FOPTD) model
- Setpoint tracking
- Continuous stirred tank heater (CSTH) pilot
- TUNIX simulation package
- Process control
- Valve stiction
- Negative derivative action
- Model plant mismatch (MPM)
- PID controller tuning
- ZNIMC tuning rule
- Robustness and Performance tradeoff
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- Graduation date
- 2009-11
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- Type of Item
- Thesis
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- Degree
- Master of Science
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- License
- This thesis is made available by the University of Alberta Libraries with permission of the copyright owner solely for non-commercial purposes. This thesis, or any portion thereof, may not otherwise be copied or reproduced without the written consent of the copyright owner, except to the extent permitted by Canadian copyright law.