Constrained filtered PID Controller for IPDT plants

doi:10.1109/MED.2019.8798590

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Constrained filtered PID Controller for IPDT plants

Proceedings Article•DOI•

Constrained filtered PID Controller for IPDT plants

Mikulas Huba¹•Institutions (1)

Slovak University of Technology in Bratislava¹

01 Jul 2019-pp 636-641

TL;DR: The paper points out the possibility of two-fold interpretation of the controller's time constants and shows possible exploitation of this fact in achieving the required output transient shapes of the system with constrained input.

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Abstract: The paper deals with design of filtered constrained series PI and PID controller for integral-plus-dead-time (IPDT) plants. Its performance is broadly scalable by the multiple real dominant pole method which integrates the controller, noise filter and prefilter parameters tuning. Performance evaluation uses shape related measures built on the concept of monotonicity. The paper points out the possibility of two-fold interpretation of the controller's time constants and shows possible exploitation of this fact in achieving the required output transient shapes of the system with constrained input.

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Journal Article•DOI•

PID Control With Higher Order Derivative Degrees for IPDT Plant Models

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Mikulas Huba¹, Damir Vrančić², Pavol Bistak¹•Institutions (2)

Slovak University of Technology in Bratislava¹, Jožef Stefan Institute²

01 Jan 2021-IEEE Access

TL;DR: The main new finding is that HO-PID control enables faster transients by simultaneously reducing the negative effects of measurement noise and increasing the closed-loop robustness.

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Abstract: In this paper, we discuss the main features of the generalized higher-order proportional-integrative-derivative control (HO-PID) based on the integral-plus-dead-time (IPDT) plant models. It was developed by extending the traditional PI-control to include $m$ th-order derivatives and $n\geq m$ th-order binomial series filters. The HO-PID control provides two additional degrees of freedom, which allow to appropriately modify the speed of the transients and the attenuation of the measurement noise, together with the closed-loop robustness. In this way, it pursues similar goals as an alternative fractional-order PID control. A broad family of the HO-PID controllers with the included low-pass filters is employed to solve a number of new problems. Their integrated suboptimal tuning, based on explicit formulas derived by the multiple real dominant pole (MRDP) method and evaluated by a novel approach that relates the speed of transients to the excessive input and output increments, has been simplified by introducing two integrated tuning procedures (ITPs). The main new finding is that HO-PID control enables faster transients by simultaneously reducing the negative effects of measurement noise and increasing the closed-loop robustness. A brief experimental evaluation using new sensitivity measures fully confirms the excellent HO-PID characteristics and shows that commissioning remains almost as simple as with the filtered PI-control.

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25 citations

Proceedings Article•DOI•

Robustness and Muliple Dominant Pole Method

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Miluse Viteckova¹, Antonin Vitecek¹, Dagmar Janáčová²•Institutions (2)

Technical University of Ostrava¹, Tomas Bata University in Zlín²

27 Oct 2020

TL;DR: The paper is devoted to the determination of robust stability regions for PI and PID controllers for first order plants with time delay and integrating plants withTime delay.

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Abstract: The paper is devoted to the determination of robust stability regions for PI and PID controllers for first order plants with time delay and integrating plants with time delay. The multiple dominant pole method is considered. The use is shown in the examples.

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3 citations

Cites background from "Constrained filtered PID Controller..."

...Both of these plants are the most common approximations of real non oscillatory plants [8-12]....
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Journal Article•DOI•

Model-based higher-order PID control design

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M. Huba

01 Jan 2020-IFAC-PapersOnLine

TL;DR: Tuning scenarios based on modified “half-rule” and their superiority in comparison to the IAE optimization based controller design are demonstrated by simulation and by real time experiments.

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2 citations

Proceedings Article•DOI•

Time Transformation and Robustness of PI Controller Tuning for Integrating Plants with Time Delay

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Miluse Viteckova¹, Antonin Vitecek¹, Dagmar Janáčová²•Institutions (2)

Technical University of Ostrava¹, Tomas Bata University in Zlín²

01 Jan 2020

TL;DR: The use of time transformation in the analysis of the robustness of PI controller tuning for integrating plants with time delay is shown and the proposed approach to the assessment of robustness is new.

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Abstract: The paper is devoted to the use of time transformation in the analysis of the robustness of PI controller tuning for integrating plants with time delay. The use is shown in the time and frequency domain and especially in the domain of relative adjustable parameters of the PI controller. The proposed approach to the assessment of robustness is new.

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1 citations

Cites background from "Constrained filtered PID Controller..."

...In most practical cases, controller tuning based on a relation (6) provides the relatively high robustness and necessary control process quality [3, 4]....
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Journal Article•DOI•

Series PIDA Controller Design for IPDT Processes

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Mikulas Huba, Pavol Bistak, Damir Vrančić

04 Feb 2023-Applied Sciences

TL;DR: In this article , the authors proposed a series proportional-integral-derivative-accelerative (PIDA) controller for integral-plus-dead-time (IPDT) plants.

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Abstract: This paper discusses optimal design of the series proportional–integral–derivative–accelerative (PIDA) controller for integral-plus-dead-time (IPDT) plants. The article starts with the design of disturbance reconstruction and compensation based on proportional-derivative-accelerative (PDA) stabilizing controllers. It shows that by introducing positive feedback by a low-pass filter from the (limited) output of the stabilizing PDA controller, one gets disturbance observer (DOB) for the reconstruction and compensation of input disturbances. Thereby, the DOB functionality is based on evaluating steady-state controller output. This DOB interpretation is in full agreement with the results of the analysis of the optimal setting of the stabilizing PDA controller and of its expanded PIDA version with positive feedback from the controller output. By using the multiple real dominant pole (MRDP) method, it confirms that the low-pass filter time constant in positive feedback must be much longer than the dominant time constant of the stabilized loop. This paper also shows that the constrained PIDA controller with the MRDP setting leads to transient responses with input and output overshoots. Experimentally, such a constrained series PIDA controller can be shown as equivalent to a constrained MRDP tuned parallel PIDA controller in anti-windup connection using conditional integration. Next, the article explores the possibility of removing overshoots of the output and input of the process achieved for MRDP tuning by interchanging the parameters of the controller transfer function, which was proven as very effective in the case of the series PID controller. It shows that such a modification of the controller can only be implemented approximately, when the factorization of the controller numerator, which gives complex conjugate zeros, will be replaced by a double real zero. Neglecting the imaginary part and specifying the feedback time constant with a smaller approximative time constant results in the removal of overshoots, but the resulting dynamics will not be faster than for the previously mentioned solutions. A significant improvement in the closed-loop performance can finally be achieved by the optimal setting of the constrained series PIDA controller calculated using the performance portrait method. This article also points out the terminologically incorrect designation of the proposed structure as series PIDA controller, because it does not contain any explicit integral action. Instead, it proposes a more thorough revision of the interpretation of controllers based on automatic reset from the controller output, which do not contain any integrator, but at the same time represent the core of the most used industrial automation. In the end, constrained structures using automatic reset of the stabilizing controller output can ensure a higher performance of transient responses than the usually preferred solutions based on parallel controllers with integral action that, in order to respect the control signal limitation, must be supplemented with anti-windup circuitry. The excellent properties of the constrained series PIDA controller are demonstrated by an example of controlling a thermal process and proven by the circle criterion of absolute stability.

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1 citations

References

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Journal Article•DOI•

Simple analytic rules for model reduction and PID controller tuning

[...]

Sigurd Skogestad¹•Institutions (1)

Norwegian University of Science and Technology¹

01 Jun 2003-Journal of Process Control

TL;DR: In this article, the authors present analytic rules for PID controller tuning that are simple and still result in good closed-loop behavior, including the half-rule for obtaining the effective time delay.

...read moreread less

1,681 citations

"Constrained filtered PID Controller..." refers background in this paper

...To characterize the output deviations from monotonicity, the total variance (the total sum of absolute increments, [4]) exceeding the useful output change is...
[...]
...Instead of the previous SIMC PID parameters [4]...
[...]
...Unit disturbance step responses with the PDn-PI controllers n ∈ [1, 4], Te = {0....
[...]

Book•

Advanced PID Control

[...]

Karl Johan Åström, Tore Hägglund

08 Aug 2005

TL;DR: Advanced PID Control builds on the basics learned in PID Controllers but augments it through use of advanced control techniques, including auto-tuning, gain scheduling and adaptation.

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Abstract: The authors of the best-selling book PID Controllers: Theory, Design, and Tuning once again combine their extensive knowledge in the PID arena to bring you an in-depth look at the world of PID control. A new book, Advanced PID Control builds on the basics learned in PID Controllers but augments it through use of advanced control techniques. Design of PID controllers are brought into the mainstream of control system design by focusing on requirements that capture effects of load disturbances, measurement noise, robustness to process variations and maintaining set points. In this way it is possible to make a smooth transition from PID control to more advanced model based controllers. It is also possible to get insight into fundamental limitations and to determine the information needed to design good controllers. The book provides a solid foundation for understanding, operating and implementing the more advanced features of PID controllers, including auto-tuning, gain scheduling and adaptation. Particular attention is given to specific challenges such as reset windup, long process dead times, and oscillatory systems. As in their other book, modeling methods, implementation details, and problem-solving techniques are also presented.

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1,533 citations

"Constrained filtered PID Controller..." refers background in this paper

...One of the most important reasons leading frequently to switching off the derivative action which may be found in renowned textbooks [2], [10] is given by the absence of reliable methods for its tuning....
[...]
...Thereby, it is to remind (see, for example, [2], [3]) that the series PID control based on implementation with a time-delayed feedback from the possibly constrained PD controller output represents generalization of the simplest anti-windup solution known in practice for decades....
[...]

Journal Article•DOI•

Simple analytic rules for model reduction and PID controller tuning

[...]

Sigurd Skogestad

01 Apr 2004-Modeling Identification and Control

...read moreread less

Abstract: The aim of this paper is to present analytic rules for PID controller tuning that are simple and still result in good closed-loop behavior. The starting point has been the IMC-PID tuning rules that have achieved widespread industrial acceptance. The rule for the integral term has been modified to improve disturbance rejection for integrating processes. Furthermore, rather than deriving separate rules for each transfer function model, there is a just a single tuning rule for a first-order or second-order time delay model. Simple analytic rules for model reduction are presented to obtain a model in this form, including the 'half rule' for obtaining the effective time delay.

...read moreread less

698 citations

Book•

Practical PID Control

[...]

Antonio Visioli

11 Oct 2006

TL;DR: Basics of PID Control, Derivative Filter Design, Anti-windup Strategies, Setpoint Weighting, Use of a Feedforward Action, Plug&Control, Identification and Model Reduction Techniques, Performance Assessment, Control Structures as discussed by the authors.

...read moreread less

Abstract: Basics of PID Control.- Derivative Filter Design.- Anti-windup Strategies.- Set-point Weighting.- Use of a Feedforward Action.- Plug&Control.- Identification and Model Reduction Techniques.- Performance Assessment.- Control Structures.

...read moreread less

566 citations

"Constrained filtered PID Controller..." refers background in this paper

...One of the most important reasons leading frequently to switching off the derivative action which may be found in renowned textbooks [2], [10] is given by the absence of reliable methods for its tuning....
[...]
...51 (27) These will be augmented by a series first order low-pass filter with the time constant Tf = TD/α; α ∈ [5, 10] (28)...
[...]
...Instead of the previous SIMC PID parameters [4] κS = 0.53; τiS = 3.18; τDS = 0.51 (26) they proposed slightly less “aggressive” modified iSIMC PID κSm = 0.59; τim = 6.81; τDm = 0.51 (27) These will be augmented by a series first order low-pass filter with the time constant Tf = TD/α; α ∈ [5, 10] (28) In dealing with the measurement noise α represents the key parameter available for influencing the resulting performance....
[...]

Journal Article•DOI•

Performance measures, performance limits and optimal PI control for the IPDT plant

[...]

Mikulas Huba¹•Institutions (1)

Rolf C. Hagen Group¹

01 Apr 2013-Journal of Process Control

TL;DR: In this paper, the authors consider PI controller tuning for the Integral Plus Dead Time (IPDT) plant subject to constraints on tolerable deviations from ideal shapes and guaranteeing minimal combined IAE (Integral of Absolute Error) measure composed of weighted IAE values of the setpoint and disturbance step responses.

...read moreread less

113 citations

"Constrained filtered PID Controller..." refers background or methods in this paper

...Similarly as above, deviations of the plant input u(t) from an ideal 1P step response [5] should be constrained in terms of TV1(us), or TV1(ud) measures....
[...]
...51 (27) These will be augmented by a series first order low-pass filter with the time constant Tf = TD/α; α ∈ [5, 10] (28)...
[...]
...Instead of the previous SIMC PID parameters [4] κS = 0.53; τiS = 3.18; τDS = 0.51 (26) they proposed slightly less “aggressive” modified iSIMC PID κSm = 0.59; τim = 6.81; τDm = 0.51 (27) These will be augmented by a series first order low-pass filter with the time constant Tf = TD/α; α ∈ [5, 10] (28) In dealing with the measurement noise α represents the key parameter available for influencing the resulting performance....
[...]
...As shown in the Theorem 1 in [5], in case of the single integrator the input responses corresponding to the setpoint and input disturbance steps have to consist of two monotonic intervals forming a one-pulse (1P) shape....
[...]