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Algorithms 2018, 11(6), 86; https://doi.org/10.3390/a11060086

Performance Optimal PI controller Tuning Based on Integrating Plus Time Delay Models

1
Meiersvingen 38, Skien 3744, Norway
2
Department of Electrical Engineering, IT and Cybernetics, University of South-Eastern Norway, Porsgrunn 3918, Norway
*
Author to whom correspondence should be addressed.
Received: 9 April 2018 / Revised: 9 June 2018 / Accepted: 14 June 2018 / Published: 17 June 2018
(This article belongs to the Special Issue Algorithms for PID Controller)
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Abstract

A method for tuning PI controller parameters, a prescribed maximum time delay error or a relative time delay error is presented. The method is based on integrator plus time delay models. The integral time constant is linear in the relative time delay error, and the proportional constant is seen inversely proportional to the relative time delay error. The keystone in the method is the method product parameter, i.e., the product of the PI controller proportional constant, the integral time constant, and the integrator plus time delay model, velocity gain. The method product parameter is found to be constant for various PI controller tuning methods. Optimal suggestions are given for choosing the method product parameter, i.e., optimal such that the integrated absolute error or, more interestingly, the Pareto performance objective (i.e., integrated absolute error for combined step changes in output and input disturbances) is minimised. Variants of the presented tuning method are demonstrated for tuning PI controllers for motivated (possible) higher order process model examples, i.e., the presented method is combined with the model reduction step (process–reaction curve) in Ziegler–Nichols. View Full-Text
Keywords: PI control; tuning; integrating system; maximum time delay error; time delay; performance optimal; process control PI control; tuning; integrating system; maximum time delay error; time delay; performance optimal; process control
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Dalen, C.; Di Ruscio, D. Performance Optimal PI controller Tuning Based on Integrating Plus Time Delay Models. Algorithms 2018, 11, 86.

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