Table Of ContentPID CONTROLLER DESIGN
APPROACHES – THEORY,
TUNING AND APPLICATION
TO FRONTIER AREAS
Edited by Marialena Vagia
PID Controller Design Approaches – Theory, Tuning and Application to Frontier
Areas
Edited by Marialena Vagia
Published by InTech
Janeza Trdine 9, 51000 Rijeka, Croatia
Copyright © 2012 InTech
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First published March, 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]
PID Controller Design Approaches – Theory, Tuning and Application to Frontier Areas,
Edited by Marialena Vagia
p. cm.
ISBN 978-953-51-0405-6
Contents
Preface IX
Part 1 Tuning Methods for 3 Terms
Controllers –Classical Approach 1
Chapter 1 Wavelet PID and Wavenet PID:
Theory and Applications 3
José Alberto Cruz Tolentino, Alejandro Jarillo Silva,
Luis Enrique Ramos Velasco and Omar Arturo Domínguez Ramírez
Chapter 2 Tuning Three-Term Controllers for
Integrating Processes with both
Inverse Response and Dead Time 29
K.G.Arvanitis, N.K.Bekiaris-Liberis, G.D.Pasgianos and A.Pantelous
Chapter 3 Design of a Golf Putting Pneumatic
Mechanism Integer vs Fractional Order PID 53
Micael S. Couceiro, Carlos M. Figueiredo,
Gonçalo Dias, Sara M. Machado and Nuno M. F. Ferreira
Chapter 4 Design and Development of PID Controller-Based
Active Suspension System for Automobiles 71
Senthilkumar Mouleeswaran
Part 2 Intelligent Control and Genetic Algorithms Approach 99
Chapter 5 Fuzzy PID Supervision
for an Automotive Application:
Design and Implementation 101
R. Sehab and B. Barbedette
Chapter 6 Conceptual Model Development for a Knowledge
Base of PID Controllers Tuning in Closed Loop 121
José Luis Calvo-Rolle, Héctor Quintián-Pardo,
Antonio Couce Casanova and Héctor Alaiz-Moreton
VI Contents
Chapter 7 Stabilizing PID Controllers
for a Class of Time Delay Systems 141
Karim Saadaoui, Sami Elmadssia and Mohamed Benrejeb
Chapter 8 Practical Control Method for Two-Mass
Rotary Point-To-Point Positioning Systems 159
Fitri Yakub, Rini Akmeliawati and Aminudin Abu
Part 3 Robust PID Controller Design 185
Chapter 9 Performance Robustness Criterion of PID Controllers 187
Donghai Li, Mingda Li, Feng Xu,
Min Zhang, Weijie Wang and Jing Wang
Chapter 10 Robust LMI-Based PID Controller
Architecture for a Micro Cantilever Beam 211
Marialena Vagia and Anthony Tzes
Part 4 Disturbance Rejection for PID Controller Design 227
Chapter 11 The New Design Strategy on PID Controllers 229
Wei Wang
Chapter 12 IMC Filter Design for PID Controller
Tuning of Time Delayed Processes 253
M. Shamsuzzoha and Moonyong Lee
Preface
First placed on the market in 1939, the PID controller is one of the most dominating
forms of feedback used until the recent years. Although PID controllers are used for a
wide range of technology applications, many important issues regarding their tuning
and performance remain open. Numerous everyday applications are incorporating
PID control structures into their design, such as process control, automotive
applications, magnetic and optic memories, flight control, instrumentation,
microsystems technology, pneumatic mechanisms, dc motors, etc. The augmented
complexity of modern applications requires that the controllers implemented would
incorporate into their design important characteristics of the systems. These
characteristics include but are not limited to: model uncertainties, system’s
nonlinearities, time delays, disturbance rejection requirements and performance
criteria.
The scope of this book is to propose different PID control design strategies for
numerous modern technology applications. The book is divided into four sections, in
order to categorize the different applications and control methodologies described in
each one of them. The first section is entitled “Tuning Methods for 3 Terms Controllers
- Classical Approach “. The first chapter of this section describes the idea of a
multiresolution PID controller using the wavelet theory for the decomposition of the
tracking error signal. Innovative methods of tuning three-term controllers for
integrating processes incorporating both time-delay and a non-minimum phase zero
are presented in the second chapter. The next chapter describes a novel test bed for
evaluation of a golf putting pneumatic mechanism and the last chapter deals with the
development of a controller for the active control of a suspension system, which
improves the inherent tradeoff among ride comfort, suspension travel and road-
holding ability.
The second section is called “Intelligent Control and Genetic Algorithms Approach”.
In this section, fuzzy controllers and controllers tuned with the methods of genetic
algorithms are presented. In the first place, a fuzzy PID supervision scheme associated
to a PID control is designed, and an automotive application is chosen for illustration
and validation of the proposed approach. In addition, a conceptual model for a
knowledge-based system for the achievement of the best parameters based in Closed-
Loop design of PID controllers is presented. In the sequel, a nominal characteristic
X Preface
trajectory following controller is proposed as a practical approach for point to point
positioning systems. At the end of this section another strategy is proposed, where the
ranges of proportional, derivative and integral gains are not set arbitrary but they are
set within the stabilizing regions determined, so that we are searching among the
stabilizing values of the PID controller.
Third section “Robust PID Controller Design” deals with robustness analysis for PID
controller design. The first chapter deals with the famous Monte-Carlo method, and a
performance robustness criterion is proposed. The performance robustness criterion
would give a new view to study the important issue of how the PID controller
performs while the parameters of model are uncertain. In the last chapter, a robust
PID controller tuned with the use of the Linear Matrix Inequalities is designed, and
applied on an electrostatic micro-beams structure.
Finally the last section of this book, entitled “Disturbance Rejection for PID Controller
Design” proposes tuning techniques in order to minimize the undesired effects of
disturbances, which are present in many real control application problems.
Book “PID Controller Design Approaches - Theory, Tuning and Application to
Frontier Areas” proposes different PID control strategies for numerous modern
technology applications in order to cover the needs of an audience including
researchers, scholars and professionals who are interested in advances in PID
controllers and related topics.
Last but not least, at this point I would like to thank all the authors of this book for the
efforts they made in order to submit their chapters and to the InTech publishing
working team for their support during all the stages of the publishing process.
Dr. Marialena Vagia
Electrical & Computer Engineering Department,
University of Patras,
Greece
