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ISA Transactions 48 (2009) 10–15

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ISA Transactions
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Research note

PI/PID controller design based on IMC and percentage overshoot specification to


controller setpoint change
Ahmad Ali ∗ , Somanath Majhi
Department of Electronics and Communication Engineering, Indian Institute of Technology Guwahati, Guwahati-781039, Assam, India

article info a b s t r a c t

Article history: In this work, the normalized Internal Model Control (IMC) filter time constant is designed to achieve
Received 30 May 2008 a specified value of the maximum sensitivity for stable first and second order plus time delay process
Received in revised form models, respectively. Since a particular value of the maximum sensitivity results in an almost constant
20 August 2008
percentage overshoot to controller setpoint change, an empirical relationship between the normalized
Accepted 15 September 2008
Available online 9 October 2008
IMC filter time constant and percentage overshoot is presented. The main advantage of the proposed
method is that only a user-defined overshoot is required to design a PI/PID controller. Simulation
Keywords:
examples are given to demonstrate the value of the proposed method.
Internal model control © 2008 ISA. Published by Elsevier Ltd. All rights reserved.
Maximum sensitivity
PID Controller
Robustness

1. Introduction essential to design a control system that shows robust performance


in the case of the aforementioned situations. Gain and phase
The ability of proportional-integral (PI) and proportional- margins are two well known measures of robustness and simple
integral-derivative (PID) controllers to meet most of the control analytical formulas to tune PI/PID controller for stable/unstable
objectives has led to their widespread acceptance in the control FOPTD and SOPTD plant models to meet user defined gain and
industry. A number of methods for tuning PI/PID controller phase margins have been proposed in [6,7], respectively. However,
proposed in the literature have been compiled in [1]. The the gain and phase margin specifications give poor results for
Internal Model Control (IMC)-based approach for controller design processes with unusual frequency response curve and may fail to
proposed in [2] has gained widespread acceptance in the control give reasonable bounds on the sensitivity functions. The maximum
industry because a clear tradeoff between the closed loop sensitivity (Ms ) is defined as the inverse of the shortest distance
performance and robustness is achieved by means of a single from the Nyquist curve of the open loop transfer function to the
tuning parameter namely the IMC filter time constant (λ). Several critical point (−1, 0). Ms measures the closeness of the Nyquist
methods of obtaining λ have been proposed in the literature plot from the critical point at all frequencies and not just the two
[3–5]. The IMC filter parameter is obtained by minimizing a frequencies as associated with gain and phase margins, and hence
weighted function of integral square error (ISE) and the maximum can therefore serve as a better measure of system robustness.
of the complementary sensitivity function in [3]. Chen et al. [4] In a recent article, Skogestad [8] reports that there are two
have proposed PI/PID tuning formula for stable first and second approaches for controller design: tight control and smooth control.
order plus time delay (FOPTD and SOPTD) process models based The fastest possible control with acceptable robustness is achieved
on the IMC principle to achieve a +2 dB maximum closed loop by tight control whereas smooth control results in the slowest
amplitude ratio. Skogestad [5] has proposed the SIMC tuning rules possible control subject to achieval of acceptable disturbance
for various process models by equating the IMC filter time constant rejection. In this work, the normalized IMC filter time constant
to the process model’s equivalent time delay. is designed to achieve a particular value of Ms that results in
The controller is usually designed based on an approximate smooth and tight control for stable FOPTD and SOPTD process
model of the actual plant. Also, the parameters of the physical models, respectively. Also, it is observed that the percentage
system vary with operating conditions and time and hence, it is overshoot remains constant for a particular value of Ms and
hence analytical expression relating the IMC filter constant to
percentage overshoot is also obtained. The paper is organized as
∗ Corresponding author. Tel.: +91 361 2582510; fax: +91 361 2582542. follows. The design method for the PI/PID controller is presented
E-mail addresses: ahmadali@iitg.ernet.in (A. Ali), smajhi@iitg.ernet.in in Section 2. Simulation results are given in Section 3 followed by
(S. Majhi). the conclusions in Section 4.

0019-0578/$ – see front matter © 2008 ISA. Published by Elsevier Ltd. All rights reserved.
doi:10.1016/j.isatra.2008.09.002
A. Ali, S. Majhi / ISA Transactions 48 (2009) 10–15 11

Table 1 Table 2
Controller parameters for various process models Ms∗ , Ms , percentage overshoots and λn
Gp (s) Kp Ti Td Ms∗ Ms Overshoot (%) λn
K e−θ s 1 τ τ
τ s+ 1 K λ+θ
= 1
θ K λn +1
τ 1.2 1.2 0 3.5568
K e−θ s 1 2ξ τ 1 2ξ τ τ 1.3 1.3 0 2.1384
τ 2 s2 +2ξ τ s+1 K λ+θ
= θ K λn +1
2ξ τ 2ξ 1.4 1.4 0.17 1.4458
1.5 1.6 3.48 1.0375
1.6 1.7 8.79 0.7691
2. Controller design 1.7 1.8 14.51 0.5796

Process dynamics are often approximated by low order transfer Table 3


function models for ease in controller design. The dynamics of a Ms and λn for smooth and tight control
large number of industrial processes can be represented by FOPTD Ms λn
and SOPTD transfer function models of the forms:
Smooth control 1.38 1.47
K e−θ s Tight control 1.71 0.74
Gp (s) = (1)
τs + 1
Table 4
K e−θ s
Gp (s) = . (2) Proposed PI controller parameters
τ 2 s2 + 2ξ τ s + 1 Kp Ti
0.40τ
Let the forms of the PI and PID controllers be Smooth control Kθ
τ
0.57τ
  Tight control Kθ
τ
1
Gc (s) = Kp 1+ (3)
sTi
  Table 5
1 Proposed PID controller parameters
Gc (s) = Kp 1+ + sTd (4)
sTi Kp Ti Td
0.81ξ τ τ
where Kp , Ti and Td are the proportional gain, the integral time Smooth control Kθ
2ξ τ 2ξ
1.15ξ τ τ
constant and the derivative time constant, respectively. Table 1 Tight control Kθ
2ξ τ 2ξ

shows the IMC-based PI/PID controller settings for the FOPTD and
SOPTD process models, where λn = λ/θ . The loop transfer function Nyquist plots given in [9]. Therefore, the condition that ω2 should
L(s) using (1) and (3) or (2) and (4) becomes have repeated roots gives
L(s) = Gp (s)Gc (s)
4c 2 λ2 + λ(8c 2 θ + 4θ c − 8θ ) + 4c θ 2 (1 + c ) − 7θ 2 = 0. (10)
e−θ s
= Dividing the above equation by θ , (10) becomes
2
(λ + θ )s
e−θ s 4c 2 λ2n + λn (8c 2 + 4c − 8) − 7 + 4c + 4c 2 = 0. (11)
= (5)
zs The solution of (11) gives
where z = λ + θ . Consequently, the sensitivity function S (s) √
2 + 2 1 − c − c − 2c 2
becomes λn = . (12)
2c 2
1
S (s) = The λn obtained by solving (11) for various values of c and the
1 + L(s)
corresponding percentage overshoots are given in Table 2. Ms is
zs the true value of the maximum sensitivity corresponding to the
= . (6)
zs + e−θ s obtained set of controller parameters and is calculated using the
robust control toolbox of MATLAB. The difference between Ms∗ and
Substituting the delay term by a 1/1 Padé approximation, the
Ms is because of the 1/1 Padé approximation of the delay term.
sensitivity function can be written in the frequency domain as
An important point to be observed is that the overshoot remains
−θ ω2 z + j2ωz constant for a particular value of Ms for a wide range of FOPTD and
S (jω) = . (7) SOPTD processes, respectively. Analytical expressions correlating
−ω θ z + 2 + jω(2z − θ )
2
Ms and λn to percentage overshoot (ov ) obtained using the curve
Squaring the magnitude of both sides of (7), we get fitting toolbox are

1 θ 2 z 2 ω4 + 4z 2 ω2 Ms = 32.79 × 10−5 × (ov)3 − 89.04 × 10−4 × (ov)2


= (8)
y2 (2 − z θ ω2 )2 + ω2 (2z − θ )2 + 88.75 × 10−3 × (ov) + 1.385 (13)

where y = = 1 1
is the inverse of the user specified
λn = −47.89 × 10−5 × (ov)3
s M∗ kS (jw)k ∞
maximum sensitivity. Simplification of (8) gives + 0.0144 × (ov)2 − 0.1698 × (ov) + 1.474. (14)

ω4 θ 2 z 2 c 2 + ω2 (4z 2 c 2 + 8θ z − θ 2 ) − 4 = 0 (9) The normalized IMC filter parameter and the corresponding
p maximum sensitivity for smooth and tight control are obtained by
where c = 1 − y2 . For y to be the minimum distance of the calculating the respective values for 0 and 10 percent overshoot
Nyquist curve from the critical point, the Nyquist curve of the and are given in Table 3. The proposed tuning rules for stable
loop transfer function should touch the circle with centre (−1, 0) FOPTD and SOPTD process models are given in Tables 4 and 5,
and radius y at only one frequency as is evident from the various respectively.
12 A. Ali, S. Majhi / ISA Transactions 48 (2009) 10–15

Fig. 1. Step responses for G1 (s), G2 (s), G3 (s) and G4 (s): (–) smooth control, (. . . ) tight control, (- -) SIMC.
A. Ali, S. Majhi / ISA Transactions 48 (2009) 10–15 13

Fig. 2. Step responses for G5 (s) and G6 (s): (–) smooth control, (. . . ) tight control, (- -) SIMC, (—·—) Wang et al.

2.1. Limitations of IMC-based controller design SOPTD processes to demonstrate the effectiveness of the proposed
tuning method. The performance of the proposed controller is
As the IMC approach is based on pole zero cancellation, methods compared with the IMC-based approach proposed in [5]. The
which incorporate IMC design principles result in good set point results are also compared with Wang et al.’s [10] method for SOPTD
responses. However, the IMC settings result in a long settling time process models. The PID controller is implemented in the widely
for the load disturbances for lag dominant processes which is used parallel form given by
not desirable in the control industry. A good trade off between  
disturbance response and robustness is achieved by selecting 1 sTd
Gc (s) = Kp 1+ + (16)
Ti = 8θ for lag dominant processes [5]. As suggested in [5], the sTi 0.1sTd + 1
integral time constant is therefore taken as Ti = min(T , 8θ ) for 1
the PI controller and Ti = min(2ξ τ , 8θ ) for the PID controller. G1 (s) = e− s
Even though the modified integral settings degrades the setpoint s+1
performance, it is observed that the proposed controller settings 1
G2 (s) = e−5s
gives satisfactory performance for both setpoint tracking and load s+1
disturbance rejection for lag dominant processes. 100
Extensive simulation results have shown that the closed loop G3 (s) = e− s
100s + 1
performance of second order processes with θ ξ /τ less than 0.6 can
be improved by the following settings of the proportional gain of 3
G4 (s) = e−10s . (17)
the PID controller. 100s + 1
0.2 ξ τ θξ The FOPTD process models considered in [11] are given by
Kp = if 0.01 < < 0.1
K θ λn + 1 τ (17). The time constant and the plant delay are the same for G1 (s)
1.2 ξτ θξ whereas G2 (s) represents a delay dominated plant. G3 (s) is a lag
Kp = if 0.1 ≤ < 0.6. (15) dominant process with θ /τ ratio of 0.01 and G4 (s) represents the
K θ λn + 1 τ transfer function of an important viscosity loop in a polymerization
process. Fig. 1 shows the plant output for a unit change in the step
3. Simulation study input and a unit step change in the load disturbance. The controller
tuned for smooth control gives plant output with no overshoot for
The proposed tuning scheme is applied to FOPTD process G1 (s) and G2 (s) whereas settings for tight control yield faster and
models with various ratios of dead time to time constant and oscillatory output. The SIMC gives a response which is in between
14 A. Ali, S. Majhi / ISA Transactions 48 (2009) 10–15

Fig. 3. Step responses for G5 (s): smooth control for nominal (–) and perturbed (. . . ) process model, Chen et al. for nominal (- -) and perturbed (—·—) process model.

Fig. 4. Step responses for G7 (s) for zero percent overshoot: (–) proposed, (. . . ) Mnif.

these two outputs as is evident from Fig. 1. Unlike the SIMC, the overshoot and satisfactory load disturbance rejection for G5 (s).
proposed method can be used to obtain a family of responses The controller tuned for tight control gives a faster response with
starting from the smooth response to tight control. As G3 (s) and less overshoot for G5 (s) as compared to Wang et al.’s PID as is
G4 (s) represent lag dominant processes, the IMC controller settings evident from Fig. 2. The load disturbance response is the same
result in poor load disturbance rejection and hence the integral for all the three methods. As the θ ξ /τ ratio for G6 (s) is 0.02,
time constant suggested in [5] is considered. It can be observed the modified proportional gain suggested in Section 2 is used.
from Fig. 1 that this degrades the system setpoint performance Satisfactory performance is achieved for the oscillatory plant G6 (s)
and the overshoot is not zero for G3 (s) and G4 (s). However, the by the proposed method whereas Wang et al.’s PID gives large
proposed controller gives satisfactory performance for both the overshoot and long settling time which is not desirable in the
setpoint tracking and disturbance rejection even for these lag control industry.
dominant processes, respectively. It can be thus concluded that the The plant model G5 (s) is considered again and the results
proposed tuning method gives satisfactory performance for a wide are compared with Chen et al.’s [4] method to illustrate the
range of stable FOPTD process models. robustness of the proposed tuning method. The controller settings
The SOPTD plant models considered are given by the following corresponding to gain and phase margins of 3.14 and 61.4◦ (as
transfer functions: these are the best settings reported in [4] from robustness point
of view) are considered in this work. The step responses for the
1 nominal plant model and an assumed 20% uncertainty in both
G5 (s) = e−0.5s (18)
(s + 1)(s + 5)2 the steady state gain and the delay are shown in Fig. 3. It can be
concluded from Fig. 3 that the robustness of the proposed method
1
G6 (s) = e−0.1s (19) towards assumed parameter perturbations are quite satisfactory.
( + 0.4s + 1)
s2 Finally, the thermoelectric device TB-127-1.4-1.2 (Kyrotherm)
1 which is used in biomedical Thermocycler for PCR analysis
Gˆ5 (s) = e−0.606s . (20) and does not tolerate any overshoot in the output response is
7. 724s2 + 32.317s + 25.220 considered. A simplified model of the device is given by
G5 (s) represents a higher order non-oscillatory process and the
7
approximate second order plus time delay model is given by (20). G7 (s) = e−16s . (21)
The second example is an oscillatory plant with ξ = 0.2. The 100s + 1
plant outputs and the corresponding control signals are shown For a fair comparison, the results are compared with Mnif’s
in Fig. 2. The proposed smooth controller gives zero percentage method [12] because both the proposed and Mnif’s methods
A. Ali, S. Majhi / ISA Transactions 48 (2009) 10–15 15

Fig. 5. Step responses for G7 (s) for 5% overshoot: (–) proposed, (. . . ) Mnif.

gives the controller parameters such that the response of the user defined value of the percent overshoot. The usefulness of the
compensated system has overshoot close to a prescribed value. proposed method is illustrated by several simulation examples.
The controller parameters proposed in [12] are Kp = 0.31 and
Ti = 100 whereas the proposed method gives Kp = 0.36 and References
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