Table Of ContentINTRODUCTION TO
PID CONTROLLERS –
THEORY, TUNING
AND APPLICATION TO
FRONTIER AREAS
Edited by Rames C. Panda
Introduction to PID Controllers –
Theory, Tuning and Application to Frontier Areas
Edited by Rames C. Panda
Published by InTech
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Copyright © 2012 InTech
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First published February, 2012
Printed in Croatia
A free online edition of this book is available at www.intechopen.com
Additional hard copies can be obtained from [email protected]
Introduction to PID Controllers – Theory, Tuning and Application to Frontier Areas,
Edited by Rames C. Panda
p. cm.
ISBN 978-953-307-927-1
Contents
Preface IX
Part 1 The Theory of PID Controllers
and Their Design Methods 1
Chapter 1 PID Controller Design for Specified Performance 3
Štefan Bucz and Alena Kozáková
Chapter 2 Family of the PID Controllers 31
Ilan Rusnak
Part 2 Tuning Criteria 49
Chapter 3 PID-Like Controller Tuning for Second-Order
Unstable Dead-Time Processes 51
G.D. Pasgianos, K.G. Arvanitis and A.K. Boglou
Chapter 4 Magnitude Optimum Techniques
for PID Controllers 75
Damir Vrančić
Part 3 Multivariable Systems – Automatic
Tuning and Adaptation 103
Chapter 5 Identification and Control of Multivariable
Systems – Role of Relay Feedback 105
Rames C. Panda and V. Sujatha
Chapter 6 Robust Decentralized PID Controller Design 133
Danica Rosinová and Alena Kozáková
Part 4 Intelligent PID Control 169
Chapter 7 Tuning Fuzzy PID Controllers 171
Constantin Volosencu
VI Contents
Part 5 Discrete Intelligent PID Controller 191
Chapter 8 Discrete PID Controller Tuning Using
Piecewise-Linear Neural Network 193
Petr Doležel, Ivan Taufer and Jan Mareš
Part 6 Fractional Order PID Controllers 211
Chapter 9 PID Control Theory 213
Kambiz Arab Tehrani and Augustin Mpanda
Part 7 Extended Applications of PID 229
Chapter 10 An Innovative Systematic Approach to Financial
Portfolio Management via PID Control 231
Gino Gandolfi, Antonella Sabatini and Monica Rossolini
Part 8 Practical Applications 247
Chapter 11 Relay Methods and Process Reaction Curves:
Practical Applications 249
Manuela Souza Leite and Paulo Jardel P. Araújo
Preface
With the development of process industries to meet market demand, new efficient
technologies have come up innovative ways to enhance production capacity by giving
special effort to process intensification. Maximizing production by allowing optimal
inputs to flow to the process has saved energy, raw materials, and utility in process
industries. In order to reduce global warming, various measures and preventive
actions are initiated around the world.
This book provides the most recent information about the theory, history, state of the
art, and best practices in implementing precise controllers in modern industrial
processes, financial sectors, and bio processes. Presently monitoring and controlling
are not only limited to industrial systems, but also have been extended to bio-medical,
financial market, and areas related to forecasting and control. The main purpose of
writing this book is to create an understanding of theory behind PID controller, how to
tune, and where to apply the controller. The concept of applying PID controller to
various fields and to design or tune the controller for specific purposes by fulfilling
closed-loop performance specifications is the objective of this book.
The book covers the general topic of PID control configuration and tuning as well as
new requirements that originate from allied application areas. This book contains eight
preliminary sections each of which has one or more chapters. Thus, a total of 11
chapters has been accommodated in this book. It is proposed that section one will
have chapter one and two. Chapter one will introduce PID controller design methods
under specified performance, especially, time-domain and frequency domain
specifications, optimization of PID parameters using error criteria. Chapter two
presents the general discussion on the family of PID controllers with a path to proceed
for optimal control. The architecture (series, parallel, and cascade) and structure of PID
controllers for first and second order processes are explained here. Chapter three
describes the PID-like controller tuning for second order unstable systems with
different model structures, relying on assignment of dominant poles, as well as time
domain specifications, providing sufficient stability margins. The controller
parameters are obtained in terms of process parameters, or by using iterative
techniques. Chapter four introduces concepts of tuning of PID controllers based on
magnitude optimum for integrating unstable and Smith predictor systems in the
continuous domain. The technique is combined with the concept of movement for
X Preface
cases on set point tracking and disturbance rejection. Model based tuning criteria of
PID controllers for conventional controllers (P, PI, PID, PD etc) for multi input multi
output systems are described in chapter five. Features and methods of auto tuning of
PID controller, and the method of calculating performance of individual loops are also
stated here. Tuning methods, using subspace identification techniques, different types
of multiloop controllers with their design methods, and tuning of those controllers, are
discussed in this chapter. Chapter six describes robust decentralized controller design
for MIMO systems. Performances of individual loops and for the overall system are
discussed here. Application of Nyquist type design for robust stability and nominal
performance is discussed here. Chapter seven accounts for various intelligent
controllers, namely using fuzzy logic based on the Mamdani structure. A method to
make a pseudo-equivalence between the linear PID controllers and the fuzzy PID
controllers is given here. Chapter eight presents discrete PID controller tuning using
piecewise linearization methods using neural networks. PID controller is used using
pole assignment. Design method of fractional order PID controllers for fractional order
process is addressed in chapter nine. The difficulties in designing fractional order PID
due to presence of fractional derivatives is explained here. Application of PID
controllers in financial sectors is described in chapter 10. In this chapter, a portfolio
management model with the aim to obtain good returns and decrease portfolio risk
through stabilization of returns, by means of the PID control applied to pure returns,
has been illustrated. The possible extensions in practical application of PID controllers
in other fields, for example, polymerization and production of bromelin are described
in Chapter 11. Each of the above chapters contains applications of the respective
theory presented in it.
I sincerely thank the publisher and book-process-manager for their cooperation in
bringing this book to a presentable manner.
Rames C. Panda
Scientist, Dept of Chemical Engineering, CLRI, Adyar, Chennai
India
