ffigrtr &$ffimxllfiffil!

ffi4n" Xf,mTII$I)fr trtlR l)ffi#r&Wffi{S A${S T{JNIilt} Lm[ffi$rIl" tr$S$TK{}[*,NXS

,

^4$p;vtrwc
,$,rf3#rilrf

M.R. Mir{sussk', A'm. Miridt- ti.S. Kvn$*qvr

Sls*frsrs&$rd**;g*16&s, {}*i}rdrsfrsrfl n .Ee.agf,*rdu; ' fffe&t"*rfc&nid* i l*kxlt*t Ullrver:sifeJa v flri*lmi

-- Y'i,;u*t {,ttl"r.t{rr f}r{J$$;:.$d,s t:l {rff\* si*ryt{v trfi$ *^ffi*fil"er

#rffif

tr*g{di:nn*,fdi.*#'#;

rwe:tlttt*l Jirt *{e,lf5,rur'l'rg frrlf/ fwrrl'r'114 fuigit

e.#.frrrt/ tJ{}?'#lvt:?lturl, fi{s{t, {r }'}/:r$: {1hp*i,t.}'/t'rst##l

n***i/t**f {iN {ttwiftyr;*il{${?.{,I,f#}#H t$'tl'ts {n{ r;t;t:t{t'r:r/f#r i,r,rrulpu**zf

#ffd ##ft*$;dfr4t{/ tr: f/f.*r Jy',*u merJ&*lr,rC; ft7 tsNr,li3"f;ilr $t* {{;'"ilt: ,'lnt-?
l.?*rru ritrur nr * pr *irfsrr*,
t

***p

*,isr,.1r;lg[[*,n,

t,* p*e i{'t}re

wllr;rcl

tt*,trl\.,

l,

fi

{r} * }

cl {"r'"x: L

rtl'{rn itrt{}t.}'ti***} $*sigt'r it* ltlw*5s a filq}se{iq, r# frn*}3lx:s fht; r*, *]ting. **nff*} x]]rs1*nn

*$

:*pe*i,'ftr:$t}q}l}$ {lr(1 si*'tis}'leEi.

pwrtr?-?ri'ffil{tr}c".fi

"

.$, *2,. ,,,t

Av

r!

*rn f.he .ql*,tulat[#tt-q rlr

prffi:,,p*l**,r.tr.

'[-]:,*

X]fl$)er'

Iirst

#xp$ritrt:1.*mf,x

twtt

pertbrrvl*d

q.:rr

{**{*}

{.}yt*,

ft*m tlls tlt{l*q,l us*r* {*rt{i tltrlt $

ililifih#r, *{, ;ltljustahls Bi}r*?}r{rt*rrs can b* *asi}_l' fun*rl

rrriefi$itl}y t{'} r,rbtnln fiig"h

i:n tll*;$er{-;-xr:r[r]t :r-*sp{}fi$r}

#tri;rsec}*t*t>y.? rs}r{$tgr.Yx per:t}:rrlr,i*}'tfi{}

ifftd in

t.lt.e le.rl*tt ttrilittlrtrmfi,#* 'l"t},i*#t.i#ft"

*rl

Is ;xppli*;, hle

{,hr & }nr6* *t*ns *'f" t}1,nanri-r

uil;fri*,ctfrrl;stlt:g s:*f,trIfi:tt'l$t ttl ilttlLlsfr*n[ $]r{}firy.5,$qeli wiil:rCrtl{
i*tt*Ur*l{ 15*ti*rt. the *+.*rrsll**[ t,*x,s tharm [ ]% *ntl ther
mw1}lr}tt #'$rlri*fit:!e$.

r.;f i'* :{he r*ltg* },3' S ,j}4 iii ;" 'i"}lil* Y'i11\&t'
trtu*.qistultt s*mlii{ivity
*y ,,tC* i,g r1rr1 iil*r*t rl"****f,f hstr'n'*q*,ft ('nt* pe:rf'*rr'rti.lfi(;rci lltlil
tr#bl}"s{fi#,$,$,

',r'[jlqlru{";
. |!Fdls{fl &$}t'}tr&#&{:r{' T{}',I'*'d}r ffiHSI.#ft Aru#
{:} s'' ilt ffi H &Ia ffi I ffi tr.['i& [, {:{"} F{? trt# *-L hi u{'s
,rxrlttlnli 5;y,$tfitrTT sfrrlil,trrye fur' ,it $i1.${-} trrl.ttttt rq,i{ll
-

TLrc

tla*sfer- firr,l*ti<*,n /*{,t'} is d*fir**et

;,lx,

in Irig. {,

wl,l*Jrer'

r,,{*i-ryj}.,

{l}

t \ ,* '3-"****/-'
fr --ol,

t2i

/''trJ

*...

rY

'\at

ri)
r:i{r} *'#* * X,,{ir{*}
Ttt,* g*lrmral krr*',1 r:t'ttr* ptrant mq:d*l i* t{{v*rl h;r'
ir*,[r;]]ufi:xp(*er],f'*,r{s}" [rl th{s *itsql'r i* th* }}r#sf;r}cr} t.lf'' t}:*
,rls*d-titr:s s 's (I - tri**sf'e'r f"un'rtitprt t"iu {'r} i* tt*tr*ett [r''v
"

/i-,,{*} ,-

Se.i

"

Ltt* sf,nhl,r,an{i *m*s*} irlv*rsr-t

S*rrt:it*tr f;*t*u**rJ*;}

Lft*

,lrirt,g

tt{

t't"t'*t*:r*c1 {t:t"ltt- r:'"i{.

{l .q}*':::l
"!:

1.1,'i,s:;''

+ zri"!

x+

{5}

{l;s + I i

l.tr**fl
.;,r,i,

{f,}

'}^}'lE;:p"

r'*i}r.*,li{}r}i i*}1

t y\tly l;tr*tltr*, :r-t?t:{:}i:; ltv

tltc

*,r:tttir,lr,rr:rla-tirx,* pr:l*t ;*nt*

ullitY gixit-i t*"i*lrslbr ]illlcti*il'11,, *{

r*;l}

fi^.rrrll

t{/,{,:i ,,

;,fr|rjr"
lt {l l;:.'

d.t ,,:::

*:*p{ *",fu

,. 1:

i"*;,}

'1

l},

,fcr peilc,l, t.i u,,tu'!",1r.l'l-us'+'

tr*ttl

]:*ftrf ry'pcr-* *n*l [,x'$]** } irl*rits

ffi*{t ii.r uf'f *s;*;ivs* f n th:w prur,*nfi.r} *i tt p{.}L}r'ty ttrar*r;sr*d r**lp,l*xf$,r*itrg{stfi p*,}* p,tt,r- fi l?*x:ln}il'timrttl'tl plta**' H,*#tll *r !t" tie:*t}*
tT^iu*
ner,q)Iid *xtrs t}*l'jn*,oi a fl*w *i*:ptr'* xrltl r:ft**r,ivs
f.im*.
pr,rl3fitr{1'11rg flty trtr:ui*g t]lrr t][ ##fitr#]]sr t?], l'h*e ]']'r,:],[,]{.$i'#r{

'X"?'l* ts*t:[1r,lr*

t}l*

ln

thr

rlxp*rillte:,rt,f;:*] clt"+siF;li ITI4lf{}d$,

s1n1{tlrrr;r iu di.ne,fitly *[:{r*in**c{

rix,li*H

*g't*!

ls*ret i ;r;tti*trt,'t-h* preic*un,u,1.,* {,s ruq'ftltr t#',4's

{.*} IQr*pr*s*ni k*lth [X'l* rl*rurirr*ttrr *r;c$ u**r**rrniru'tt:ttr

it

Ilfitt:*{j h'{*ltli:fi,*,*J. lvltqrrli*l M*tJrl

#n1ltr#l {fotlh{il} [ ]J- !s * prxr*s*ilr* fivr r**signing ;lrr<i ttrtl]*g;
g*n*,ru*I uI,**,& r*1' llig$lr p*r-l'r"rrur)rllrfifr **ifiit+rI *+:nrr*llI*rs.'l'h*
ilnp*rf*r:mt yr*"rlg.tsrti,*s *t'' thi* ffrfit]l{l{* t}r* tlt:}t th*: slrrltrq-rll*r

wr#

,S'.,,

p*ritn[ *.{ ,

xhei*[.d he d{:}n*," ane5

rftr$.st t"rtl E*peftts{t" {lcxts,w,rqu*ffitly, tll*,rc 1l; x lli;t'r"}r}fl rrli}tivr.ttieillr
t# r{*vel*p,xirnpl* d*^tign fr*d ttmring pr+r**r:{u,rr:s i.rilsecl

Ilr fhix

{,

I,rcrr ti'l,n s*lrtrprtring

#}rnt}st hy rul** .*#fiil# lrt*tiifie#ti't}l}l$

}}r*hrli}u$ $t#p,t in d*:s}glring l?I}d U*Yl!*#

r11ix.l g.lr'*:lce*ss,

ir i* *tl*stlrrr:t*e} f.}x,lt 1"* {} ,i.r:tr. t"r{' ths **rltrt:{}ur iir'+

thirr pltp,;r

tr^r

i:g tlr*

AcJ.}uritalfr[,e pftraml,r"e

rg,s,nrlf *fl:tf1:i** finEgl st&}P,

,*r*t.ir*1y,,

iruxri fv*lr-tl r I .&f nlrri .r5f

i,g d*t*r's:tt

s*lnp{ing*. pr*ri*rf.
{J,

'\

,4.*I/'

";

f,i,;{;}l ;r is *trt,*tin*sl bV ltffi*

. I ffT${#U}t"i,fl'*T" {}ru
"X''hffi lir,rxx} s[,#]ffi

t i {.*\
..... * I
tr.4 j **
7.

{. J

ll',{r}

,,'

f,r ':)*-.
f]
't;"-O

fi:r y#r#$
e,;l mtp l t),x -c r:r*

:::::

{3spi"

itllr'l

,&r

;,i i,.1,

{ir,(s} ,* {"{,s + l}

il*nriltu*^tt"t's-tirtr*

fi#l*

t*fi at*

?}

WtiLt,

f-;o{s}",., ll{'i'*.s" + '}$yi n} - is r"*,trrrus*nf.*{t

g*irl ml:lr,t*t*r ftlnqtiiln F$",.{r} +f t}ter {orrlr:

?::},'

u*ur,.*,,,'

'1

If'*{;}-i;ffitirr.

tft'|

(ttr

#,

;* tlx,[]{^

.........*..'t

';"i

tl

,l*rgr{. l;^,\{ir"},;*rsf
' J ''"n"io 's' \iut- - iI j '
;.'i.L&r.

i?'}

t*{S'T

'$"h* p4iI* i*r the i,:rl'igi*'1, t:l*,{s}r'

brv

{rJ'- *'

i.,pl+r I

ttt'1

[;i5, is

l"*tr:rr:'*xtttxrj

('-*.'l}
'
,$/;

{*i Iij{;ir:r in r^>htaitrcr}

(*s

fi

t:tn**:ls,{**

*v*'firrt-*rtX*r

*ru,l^r'|,
a*cl :rir*:r}fid**:r.t*r
i'lt'v-*tr.ti.*
tfu*
a*ri
il'l
{,1}}.
t,ri**,*{el- {'un#ti*tt;;, d'r'fltltr*rl

&d{-}, *1,.r{*}, ffi,{u},

gil!:n {u[itti*. r:r v'ct**itX,..]

r#t*ii N :;, #

"r1.u{s}

ri

i'*

$4(r},fl,-T tv

,t'tr,

t}

}}

{-r} }r* ';}*{'trt*d tris* it"'

r"{*,}
{f:'
rnanr,t*r"',, &u{..r} is * **t:{tfi+1*a}rifcr

'["]t,* t,lrt*t"t;tf*r firn*ti*rl

strt*ightfhrwnral

ut'

il.r..,,{-}r%t-}{l
df-

l.
(16)
damped .,.(.s)=,
3<nsl0.
-' P' \- '
function
(r + tf
in.the normalized time and
(12) Models (l4Xl6) are defined This
.
also holds true for the
gain.

uansftr ftrnction dsfined by only one poorly

complex-conjugate pole pair, the transfer

- / \ z-l
O"l')=-T

with normalized static

P(s),givenby
was found to be an adequate choice of G"(z) to maka model C.(.r),usedtoapproximate
the
by
caused
Ke'o.
possihle componsation of strong oscillations
( t r)
G," (.s) signal
disturbartce. To obtain an adJquate compexsation
I
i;.*
't'he estimatetJ static gain K of the process is addod since it
;"t) f*; higher-order transfcr function P,,o('t) , 'E' as the
characteristics
zeros
stable
must be included in tuning formulas. Dynamic
one defincd by (5), ail the additionat poles and
RZN
develop
to
small
in
a
used
tuJte
t4l
pole
(
l4)-(
16)
by
yi'l
Pak,
dehned
lexcept the *o*ft*x-conjugate
some
s_atisff
gains,
to
be
controller
must
(r) i'enrerhod of hrnini ifr. PUPID
damping ratio ( ) must be included into G.

to develop
in
specifications on the set-point overshoot and [5]
to obtain
gains,
K-r method of tuning the PIPID controller
is
method
new
a
ln
M'=t'4'
or
[2]
s$nsitiviry*'U*2

f(z) to U"{r), forg.i =0. Thi's

as in (5),
that the transfer function <i-(r) , for f,r(r)

cancelled in the path retating

means

is given by
G"(r)

* (z-l)%(,)nlr,(r)il w,(')'

MIMC .ont ottJr, with

c"(r)

oJan*o in

this

way

tnaximum
both rcquirements
detined satisfoing, ior the first time, thc
sensitivity'
maximum
the
ancl
overshoot
thi
concrning
on a
Extensive sirnulations, using C,, (s) and experiments

l3)

real process, have shOwn that adequate estimates

and

8.,

I Rl:

This procedure is named activt compe$sation in

polecomparison to ths active damping, usetl in the output
to
i'E'
purpose,
same
the
placlment method t3l tbr
closedthe
of
output
the
of
ortitlutions
strong
compensate
of a
loop system, ,"rrl.d by the disturbance itr the lrr*t.n.e

by ;.

d rin = exp(-2A t lT't:L) since

of
the set-point respollse is {efined by cascade connsction
initial
d,
(1)-(2)If
=a,
functions
two l.rst-order transfer

= exp( *A,t lT*,.) ' ?*', is

in the ffise of att
desired closed-loop system rise tinte. Then,
setting 8o = 0
adjusted,
g,
is
parameter
plant
the
oscillatory
to the value
zero
from
in (3) . The value of 8c is increased

of a is defined by

d u,

caused by
when oscillations of ttre ctosed'loop system output,
type- l ,
of
is
plant
the
if
Then,
disappear.
the disturbance,
that
value
go is increased from zero to

a
parametEr
not
guaranties fast rejeotion of the load disturbanct
is
It
response'
sot-point
the
deteriorating signihcantly
the
gil
of
(
g;
values
)
recommended to adjust normalized
'
pararneters

g" and 80, i.e. 8"=gilK and 8o=g';lK'

respectively, where the parameter

staiic gain of the Plant model'

is the velocify or

63a/o

the

of the Y.'-

In thc PI controtler with the transfer function

cr,(')

(r8)

K,'oL
.s

the gairr s Kr and

pT
Kt,=r;;,

of

d and dt are defined by &i,, :

estimate

following rules:
value
r is the tirne 11 to go to l0% of the steady-state

of the step rcsponse of the process, yss;

[t2: T is the time Tnt2-t1 where 12 is the tirne to go to

t).

poorly damped conrplex-conjugate pole pair of I'(s).

estimates
Pararnetrs cr an|a, are adjusted first. Initial

Kr

are defined bY

K = tt
Kt--

lrom the

Parameter p is chosen by the plant operator

range,(gleat'
range 0.32 S p50,54, according to the expected
tt,* process paftrncter variations' As

of
pirriorrly th;

medium, smalt)
rnentioned
overshoot

L3
4.

.< M.s

fl<
s 2,

ptopoied . procedure guaranties

and maximum sensitivity M, in the lange
demonstrated in Fig'2'

l3a/o

ff

SIMULATION RESULTS
methods:
Two exarnples are used to iltustrate the both

tuning' The
MIMC design and tuning as well a; Pt controller
and Fig.4.
results obtained are Presented in Fig.3

,*.ril* is defined

The first

r(t) = r,(r)

by the transfer function

where

p,..)=;(

(20)

'l'he nominal values of the parameters q '*

(K'T"T''T''()

are

givenby4=4t={0.2736,0'05,0'087'0'8'0'0546)'For

Al:0.01s initial estimates of

T<t. =0,1s and

CONTROLLER

(ri, = d,tn =0.82 . In order

Three transfer functions Gr, (s)

, i* l '2'3

are chosen

as

of dynamic characteristics of a process P(s)

without an integrator, where

0. I

(19)

PI
3. STEP RESPONSH TUNINC OF THH

representative

are otrtained using ttrc

Eeneratss a pulse-like signal

causcd by disturbance arc
oscitlations
,r.(r), such that the
the plant output induced
of
oscillations
compensated by the

adequately tuncd parametor

of r and

( 0 <10

l4)

is adjuste<J

to

ct

(ls)

tO Obtain fbster load rejection

'

(t

- 0.7 and (xr was set lo a, = 0'85 ' set-point

in Figs.3(a)-(o are
and load disrurbance responses presented

for different
obtained bi' -drying the MIMC controiler
'['he results obtained confirm entirely the
values g" and Eo,

p*po*iii Oerilii and ftrning

sensitivity obtalrred is

0.rs flsT

a.and a', are

procedure. The maxirnurn

M;-Z'l '-lt should

be noted here that the

case of snong
is
0'08) '
0'342'
0'0548'
0'05,
(0'5085,
q,
q
=
perturbation =

closed-loop system

stable even

in the

l* i $i.

l .,,l.'ff ;t f{..1

*.rr:irrlt'

r't

s.'v

ff t #rfi gyl"trrsf

'gdrrri.

i!.

.!
'

.,n
\J

.i
'+

ra

4.6.
Y'

t.

rt*trd)"' "i

.+/

.i* x

+*t'.
...

'l''

*1"
.&
1r

*
y.

$.r.

'.1..

v.:

'*

^v.
,1.

.x

v
,1.)
.d

fi

4#

',te

*
dettel-rime t-} * rlf : fsl p *0"3?; f$l p S'54'
it{exfmu m #ct.$itt\tity,jr .rcr */aarltian af fhe nurrn*lixetl
Sig;t.
'
AA;i'rprose*lcdrrxl'rf*r6s;3Cr*{r} lxu*}, err-1*; f*ul, $u,fu}l+*t1. l"orpx:ce'x e;,,,(t},

*r***

*.1$.

t-.t

fl.tp

u{t}

t'S

S,.

v{t}-$"*s
'"

"s

(l',{}'fi

{i.*4
$.$#

rI
{e}

fr,,fi*d

fi

Tirv

ii)l

{$}
I 4-j

t},'i $

*.:lf
{}.r

rill*

nit)

l-' "'-;,

{3

ou|,7,1

fi.{}s

r";r

's.t:14

r],s?
n,fi,$,

*,

(,:

Tirn

',,'.,

ii

{{t }

{s }

Tirn p {*}

1*

fi"1$
t\
Vr i'j! &

#,1 rl

u{t}

n/'

vit)
' ' '43,firf!

*,t3&

#,{}*

{i,,[1f

fi"s$

t
tl

t1

,l

ie.)

J.

Yir*

p, {"e}

1'2
tt}

at

Tirtt

{s.}
4g',nf].

T,

yxr,;,*{.!.i$5;

{i:ri-#l"i

.-+44

1() 12

14

(b)

r.5

1.

1.

o.

o.
o.
..()

-'t

1E

"1

1A

(d)

1,5
1.

o.
().

o
(,e)

(a'c'e)'
Fig.4.Closed'toop responses of the tFACgi Benchmarl' Pt
s?ressJ.

GainsKt,andK,arecalcutated{romthenominalmodel

for K:1, r-ls and

o*,(s)=6i#ir.-rrusingtherulesRtandM'i'e'

I'=4.4s: (a) p--0.54: 1Q 7t=0'454: (c)

The second example is dehnetl by a process wittt

parameters known only within a cerHin mnge i.e. by the

tFACg3 Benchmark f6i, ?J. Depending on various operating

,*gi**r, the loop operates at three stress levels, with higher
strlss levels inducing larger parameter variations. The setpoint to the loop is aiquaie waue varying hetween t I with a
'period
of 20 seconds, For each stress level. it is required to

as
design a controller to achieve as fast a rise-tirne T*t
to
the
subject
seconds),
3
possible (preferably between 2 and
irara consirainr on the controtled and manipulated variable'
given by
The complete transfer function P(t) of the ptant is

r#ffi

lll
t2l
t3]

nom

inal

valuss of

the

( r)* (s 0'4 5 0.3 l) ' Variations of tlre

Q =Vr T? ao
for
parameters q are small, medium and great, respectively
ff'
to
cornpared
is
controller
PI
tho
bt **r1,2 and 3. In Fig.a
is
controller, In [8] the propoted tuning of the PI controller
realized on a PLC, in real time'
5.

CONCLUSION

tools
The proposed experirnental rnethods flre prgrnissing
conrollerslinear
tuning
and
for designing

tyning of the PI controller

KvaICev

'

"Slep

resporrlle

revisited', lnternal rcport

Co mputer controlled
Englewood cliffs NJ: Prentice-Hall, I990'
of
i.C Hang, K.J. Asffom and W'K' t{o' "Refinements
t EE Proc.D,
tuning,
,
lbrmula"
the zie{ier_Nichols

K.J. Astrom and B. Wittenmark,

systems,

t4l

[6]

the

M.R. MatauSek and G'S'

FacultY of EE, Be lgrade, 2000'

used to design the PI controller, is given in Fig'4 for

parametcrs

M.R. MatauSck, A,D. Micic ancl D.B. IlaCiC, "Modified

internal model control approach to the design and
in
tuning af linear digital con'lrollers", to be published
lnt.J.SYstems Science, 2001'

t5l

p.(r),

p=0'lZ'

REFERENCES

V . u,,,,r,6;w;ilf ;a
where Tro =ltS,T: :lll?',atr = 15, {,s =0'6 ' The rnodcl
qh)=

(c)'(d) Stressa; (e)-(1)

O-9''!:-f'!:9.S/ress/;

vol.l38, PP.l I l'l 18, l99l'

K.J. *#om and T. Hagglund,
and tuning,,lSA, Rese arch

conyol * theory,
rD
Triangle Park' NC' 1995'

,,Robusl anrl adaptive control

S.F. craeue,
unknown plonr:

benchmari

of

of

an

new forrnat" '

Automatica, vol.30, PP'56?- 575, 1994'

I'
Whirlbome' - G' Murad, D'W' Cu and
planl
unbrown
of
an
"Robu.qt
controt
Postlethwaite,
pp.589the tFAC93 llenchmork", lnt.J,Contr, vol.6l,

Ul J.F.

640, t 995.

tSI
! ' G.S.

KvaSCev,

D'S' Jovanovid, M'R'

Mataulek'

podeiwanja
"Ef<sperimenfalna analiza ttovog poslupka
P t regltlatora", ETRAN, 200 I '