Robustness versus performance tradeoffs in PID tuning

• Author / Creator

  Amiri, Mohammad Sadegh

• 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.

• Subjects / Keywords

  • Valve stiction
  • Negative derivative action
  • Continuous stirred tank heater (CSTH) pilot
  • OPC
  • Disturbance rejection
  • Model plant mismatch (MPM)
  • Servo and regulatory control
  • PID controller tuning
  • TUNIX simulation package
  • Robustness and Performance tradeoff
  • First order plus time delay (FOPTD) model
  • ZNIMC tuning rule
  • Setpoint tracking
  • Process control
  • Process abnormality

• Graduation date

  Fall 2009

• Type of Item

  Thesis

• Degree

  Master of Science

• DOI

  https://doi.org/10.7939/R36D2M

• 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.