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Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Control System Design - PID Control
1 Introduction
2 The Basic Controller
3 Performance and Robustness
4 Tuning Rules
5 Relay Auto-tuning
6 Limitations of PID Control
7 Summary
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Introduction
PID control is widely used in all areas where control is applied
(solves ( 90% of all control problems)
A PID controller is more than meets the eye
The tuning adventure (Tore+KJ)
Telemetric, Eurotherm 1979
Adaptive control and auto-tuning
STU, patents, NAF (Sune Larsson) SDM20
Satt Control, Alfa Laval Automation, ABB
Fisher Control, Emerson 1979–
Research and the PID books 1988, 1995, 2006, ?
Interactive Learning Modules Guzman, Dormido
http://aer.ual.es/ilm/
Revival of PID Control - publications, conferences
Technology transitions
Pneumatic, mechanical,electric, electronic, computer
Modeling: the FOTD model P(s) = 1+KsT e−sL
To PID or not to PID - that is the question
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Predictions about PID Control
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Typical Scenarios
Process control
Standard distributed control system for 500-10000 loops
One control room, commissioning, tuning, operations, upgrading
handeled by operators and instrument engineers
Loops are tuned and retuned at installation and during operation
Automatic tuning
Equipment manufacturers
Automotive systems: emissions, cruise control, antiskid, ...
Motor drives, robots and motion control
Dedicated equipment for air conditioning
Controllers may be tuned based on models or by bumptests and
empirical rules
Installation tuning and upgrading very different for different
applications
Tasks: regulation, command signal following
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Entech Experience & Protuner Experiences
Bill Bialkowsk Entech - Canadian consulting company for pulp and
paper industry Average paper mill has 3000-5000 loops, 97% use PI
the remaining 3% are PID, MPC, adaptive etc.
50% works well, 25% ineffective, 25% dysfunctional
Major reasons why they don’t work well
Poor system design 20%
Problems with valve, positioners, actuators 30%
Bad tuning 30%
Process Performance is not as good as you think. D. Ender, Control
Engineering 1993.
More than 30% of installed controllers operate in manual
More than 30% of the loops increase short term variability
About 25% of the loops use default settings
About 30% of the loops have equipment problems
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
PID versus More Advanced Controllers
Error Present
Past Future
Time
t t + Td
Z t de
u(t) = kp e + ki e(τ )dτ + kd , Td = kd / kp
0 dt
The left hand side converges to a constant and the left hand side does not
converge to a constant unless e0 = 0, futhermore
Z ∞
u(∞) = ki e(τ ) − e0 dτ
0
A controller with integral action will always give the correct steady state
provided that a steady state exists. It adapts to changing disturbances.
Integral action is sometimes even called adaptive.
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Interactive Learning Modules
ILM Demo
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Control System Design - PID Control
1 Introduction
2 The Controller
3 Performance and Robustness
4 Tuning Rules
5 Relay Auto-tuning
6 Limitations of PID Control
7 Summary
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Static Characteristics
u max
Slope K
ub
u min
Proportional band
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Integral Action or Reset
It was noticed early that proportional control gives steady state error. A
bias term ub called reset was introduced to eliminate steady state
errors.
u = kp e + ub
Bias was adjusted manually and then replaced by the following way to
adjust bias automatically. (Filter out low frequency component of u and
add it by positive feedback.)
e u
K Σ
I
1
1+ sTi
1
A simple calculation gives U (s) = k 1 + .
sTi
Voilá a PI controller!
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Derivative Action
A derivative is the limit
1 1 1 s
e−sT ( , sY (s) ( 1− Y (s) = Y (s)
1 + sT T 1 + sT 1 + sT
Block diagram
e u
kp Σ
−1
1 + sTd
ki kd s2 + kp s + ki
C f b(s) = kp + + kd s =
s s
Series form or interactive form:
1 k̃p
C̃ f b(s) = k̃p 1 + (1 + sT̃d ) = 1 + s(T̃i + T̃d ) + s2 T̃i T̃d
sT̃i sT̃i
Relations between coefficients
T̃i + T̃d T̃i T̃d
kp = k̃p , Ti = T̃i + T̃d , Td =
T̃i T̃i + T̃d
Parallel form is more general. Equivalence only if Ti ≥ 4Td .
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Filtering
Filter only derivative part (absolute essential)
1 sTd ki kd s
C f b(s) = k 1 + + = kp + +
sTi 1 + sT f s 1 + sT f
kd s2 + kp s + ki 1 + sTi + s2 Ti Td
C f b(s) = = ki
s(1 + sT f ) s(1 + sT f )
kd s2 + kp s + ki 1 + sTi + s2 Ti Td
C f b(s) = = ki
s(1 + sT f + s2 T f2 /2) s(1 + sT f + s2 T f2 /2)
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
2DOF in PID Controllers
A 2DOF structure makes set-point response independent of
disturbance response. Set-point weighting “Poor man’s” 2DOF, allows
a moderate adjustment of set point response through parameters b
and c. Comment on practical controllers.
ki
U (s) = kp bR(s) − Y (s) + ( R(s) − Y (s)) + kd s cR(s) − Y (s)
s
r
ki /s Σ ki /s
r e u y u y
Σ kp Σ P(s) kp Σ P(s)
kd s kd s
Controller
−1
−1 Controller
b=1=1 b=c=0
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Avoiding Windup
−y
kd s
Actuator
e=r−y ν u y
kp Σ P(s)
− +
1
ki Σ s Σ
es
kt
e
kp Σ
e 1 I v w u
ki Σ s sat Σ sat
− +
Σ
ǫ
kt
The integrator is reset based on its output and not based on the
nominal control signal as in previous scheme.
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
The Proportional Band
The proportional band is the range of the error signal where the
controller (actuator) does not saturate.
dy
u = K (bysp − y) + I − K Td .
dt
Solving for the predicted process output
dy
yp = y + Td ,
dt
gives the proportional band ( yl , yh ) (also PB=100/K) as
I − umax I − umin
yl = bysp + yh = bysp + ,
K K
where umin , umax are the values of the control signal for which the
actuator saturates.
Anti-windup changes the proportional band.
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Anti-windup and Proportional Band
Tt = 0.1 Tt = 0.3
1 1
y y
0 0
0 5 10 15 20 0 5 10 15 20
Tt = 1.0 Tt = 1.4
1 1
y y
0 0
0 5 10 15 20 0 5 10 15 20
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Anti-windup in Series Implementation
e u
K Σ
I
1
1+ sTi
e K Σ u
I
1
1+ sTi
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
PID Controller with Tracking Mode
ysp P ysp SP
b K v
y MV PID
w TR
y sK Td D
−1
1 + sTd / N
e K 1 I v
Ti s
1
Tt
w + –
No tracking if w = v!
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Anti-windup for Controller with Tracking Mode
−y
K Td s
Actuator
model Actuator
e v u
K Σ
− +
K /Ti Σ 1/s Σ
es
1/Tt
Actuator model
SP
v u
MV PID Actuator
TR
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Control System Design - PID Control
1 Introduction
2 The Controller
3 Performance and Robustness
4 Tuning Rules
5 Relay Auto-tuning
6 Limitations of PID Control
7 Summary
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Requirements
Disturbances
Robustness
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Tune for Load Disturbances
G. Shinskey Intech Letters 1993: “The user should not test the loop
using set-point changes if the set point is to remain constant most of
the time. To tune for fast recovery from load changes, a load
disturbance should be simulated by stepping the controller output in
manual, and then transferring to auto. For lag-dominant processes, the
two responses are markedly different.”
For typical process control problems
Z t dr dy f
u(t) = kp β r(t)− y(t) + ki r(τ )− y(τ ) dτ + kd γ −
0 dt dt
The literature is often very misleading!
1
Ycl = SYol = Yol
1 + PC
Load disturbance attenuation (typically low frequencies)
P s PC
G yd = ( , − Gud =
1 + PC ki 1 + PC
Measurement noise injection (typically high frequencies)
PC C ki
G xn = , − Gun = ( C = G f ( kp + + kd s)
1 + PC 1 + PC s
Command signal following
PG f (γ kd s2 + β kp s + ki ) G f (γ kd s2 + β kp s + ki )
G xr = , G ur =
s + PG f ( kd s2 + kp s + ki ) s + PG f ( kd s2 + kp s + ki )
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Criteria IE and IAE
where e is the error for a unit step in the set point or the load
disturbance have often been used to evaluate PID controllers
Notice that for a step u0 in the load disturbance we have
Z ∞
u(∞) = ki e(t)dt
0
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Load Disturbance Attenuation
P = 2(s + 1)−4 PI: kp = 0.5, ki = 0.25
0
10
p G xd (ω )p
−1
10
−2
10
−2 −1 0 1
10 10 10 10
ω
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Measurement Noise Injection
1
10
p Gun (ω )p
0
10
−2 −1 0 1 2
10 10 10 10 10
ω
1 P
1 1 P
= 1 + PC 1 + PC
H=
C PC
1 + PC
C PC
1 + PC 1 + PC
1 + p PCp 1 PC
γ = max = max +
p1 + PCp 1 + PC 1 + PC
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Circles
Ms = Mt = 2 Ms = Mt = 1.4
replacements
40
35
30
25
ki
20
15
10
0 20
0 15
2 10
4
6 5
8 0
k kd
0.8
0.6
ki
0.4
0.2
0
0
0.5 3.5
3
2.5
1 2
1.5
1
0.5
kp 1.5 0
kd
0 0 0
−0.5 0 0.5 1 1.5 −0.5 0 0.5 1 1.5 −0.5 0 0.5 1 1.5
kd = 3 kd = 3.1 kd = 3.3
1 1 1
0 0 0
−0.5 0 0.5 1 1.5 −0.5 0 0.5 1 1.5 −0.5 0 0.5 1 1.5
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Edges Correspond to Cusps in the Nyquist Plot
Im G l (iω )
−1 Re G l (iω )
Nyquist curve of the loop transfer function for PID control of the
process P(s) = 1/(s + 1)4 , with a controller having parameters
kp = 0.925, ki = 0.9, and kd = 2.86.
Cusps are avoided in this example by minimizing IAE instead (dashed
curve) kp = 1.33, ki = 0.63, and kd = 1.78
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Time Responses
Step in set point Step in load disturbance
1.5
1 0.5
y
y
0.5
0
0
0 10 20 30 40 50 0 10 20 30 40 50
1.5
1
1
u
u
0.5
0.5
0 0
0 10 20 30 40 50 0 10 20 30 40 50
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Control System Design - PID Control
1 Introduction
2 The Controller
3 Performance and Robustness
4 Tuning Rules
5 Relay Auto-tuning
6 Limitations of PID Control
7 Summary
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Tuning Rules
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Assessment of Ziegler-Nichols Methods
Great simple idea: base tuning on simple process experiments,
s( L + Tcl ) s( L + Tcl )
S= − sL
(
s( L + Tcl ) + e 1 + sTcl
sK p( L + Tcl ) sK p( L + Tcl )
PS = e−sL ( e−sL
(s L + Tcl ) + e−sL (1 + sT )
(1 + sTcl )(1 + sT )
s(T + Tcl )(1 + sT ) ( L + Tcl )(1 + sT )
CS = (
(s L + Tcl ) + e−sL (1 + sT )
K ( L + Tcl )(1 + sTcl )
e−sL 1
T= ( e−sL .
s( L + Tcl ) + e−sL 1 + sTcl
e−s e−s
P1 (s) = , P2 (s) =
1 + sT (1 + sT )2
1 1
P3 (s) = 2
, P4 (s) =
(s + 1)(1 + sT ) (s + 1)n
1
P5 (s) =
(1 + s)(1 + α s)(1 + α 2 s)(1 + α 3 s)
1
P6 (s) = e−sL1 , T1 + L1 = 1
s(1 + sT1 )
T
P7 (s) = e−sL1 , T1 + L1 = 1
(1 + sT )(1 + sT1 )
1 −αs
P8 (s) =
(s + 1)3
1
P9 (s) =
(s + 1)((sT )2 + 1.4sT + 1)
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Essentially Monotone Step Responses
0.8
0.6
y
0.4
0.2
−0.2
0 0.5 1 1.5 2 2.5 3 3.5 4
t/Tar
monotonicity
R∞
0 e(t)dt
a = R∞ , essentially positive if a > 0.8
0 p e(t)pdt
Positive systems is a research issue (Sontag)
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
The FOTD Model
K
P(s) = e−sL
1 + sT
3
K kp vs τ 2
akp vs τ
10 10
2
10
1
10
1
10
0
10
0
10
−1 −1
10 10
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
2
10
Ti /T vs τ 10
1
Ti / L vs τ
1
10
0 0
10 10
−1
10
−2 −1
10 10
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
PID Control M = 1.4
2
10
K kp vs τ 10
2 aK = kp K L/T vs τ
1 1
10 10
0 0
10 10
−1 −1
10 10
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
1
10
Ti /T vs τ 10
2 Ti / L vs τ
0 1
10 10
−1 0
10 10
−2 −1
10 10
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
1
10
Td /T vs τ 10
1 Td / L vs τ
0 0
10 10
−1 −1
10 10
−2 −2
10 10
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
0.15 LT T 0.35T
kp = + 0.35 − ( small τ
K ( L + T )2 KL KL
13LT 2
Ti = 0.35L + ( 13.4L small τ ,
T 2 + 12LT + 7L2
1 T 0.45T
kp = 0.2 + 0.45 ( small τ
K L KL
0.4L + 0.8T
Ti = L ( 8L small τ ,
L + 0.1T
0.5LT
Td = ( 0.5L small τ .
0.3L + T
Maximum sensitivity is a good tuning variable
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
An Observation
2
10
1
10
ω c L
0
10
−1
10
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
τ = L/( L + T )
2
ki [ PI D ]/ ki [ PI ] vs τ
10
1
10
0
10
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Derivative action gives small benefits for processes with delay dominated
dynamics (derivative is a poor predictor for systems which are dominated by
time delay)
Derivative action doubles performance for τ = 0.5
Significant may be possible for small τ , but better modeling may be required,
notice difference between P1 (red circles) and P2 (red squares)
Processes with small τ are easy to control and admit very high gains. In
practice the admissible gains are limited by sensor noise. A PI controller will
oftenBowork well. and Karl Johan Åström
Bernhardsson Control System Design - PID Control
Nyquist Plots for Testbatch
AMIGO AMIGO++
K p e−sL K e−sL
Approximate by 1+sT
Approximate by (1+sTp)(1+sT )
1 2
1 1
0 0
-1 -1
-2 -2
-3
-3 -2 -1 0 1 -3
-3 -2 -1 0 1
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Level Curves Performance (blue) Robustness (red)
0.9
0.8
0.7
0.6
ki
0.5
2.5
0.4
1.9
0.3
1.7
1.5 3
0.2
2
1.3 1.8
1.6
0.1 1.4
1.1 1.2
0
0 0.5 1 1.5 2 2.5 3 3.5 4
kp
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Level Curves - Lag Dominant Dynamics
Lagdominant
20
1.9
S SM
18
16
14
12
1.6
ki
10
S SM
8
A
6
S SM
4 21.8
1.7
1.5
1.4
2 1.3
1.2
L
0
0 2 4 6 8 10
kp
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Level Curves - Balanced Dynamics
0.4 3
0.35
0.25 2
1.8 L
S
ki
0.2 1.6 SM
1.5 A 1.7
0.15
S
SM L
1.3
S
0.1
SM L
0
0 0.2 0.4 0.6 0.8 1 1.2
kp
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Level Curves - Delay Dominant Dynamics
Delay dominated
1
0.9 L
L
0.8
L
2
0.7
1.9
0.6 1.8
1.7
1.6
ki
0.5 S
A SM
0.4 1.4
S
SM
0.3
S
1.2 SM
0.2
1.5
0.1 1.3
ZN
0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
kp
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
How to Get the Models
Bump test
3
y
0
0 2 4 6 8 10 12
Relay feedback
Model reduction - Skogestads half rule
System identification
Modeling and control design should match
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
A Difficulty in Step Response Modeling
1
P(s) = , T1 /T2 = 0, 0.1, . . . 1
(1 + sT1 )(1 + sT2 )
0.8
0.6
y
0.4
0.2
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
t/(T1 + T2 )
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Summary
1 Introduction
2 The Controller
3 Performance and Robustness
4 Tuning Rules
5 Relay Auto-tuning
6 Limitations of PID Control
7 Summary
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Relay Auto-tuning
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Relay Auto-tuning
y sp u y
Σ Process
PID
−1
0.5
y
−0.5
−1
0 5 10 15 20 25 30
t
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
√
Short Experiment Time G (s) = exp(− s)
0.8
0.6
0.4
y
0.2
0
−0.2
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
1
0.8
0.6
y
0.4
0.2
00 10 20 30 40 50 60 70 80 90 100
x
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Practical Details
Bring process to
equilibrium
Measure noise level
Compute hysteresis width
Initiate relay
Monitor each half period
Change relay amplitude
automatically
Check for steady state
Compute controller
parameters
Resume PID control
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
The First Industrial Test 1982
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
The Hardware
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Automatic Tuning of a Level Controller
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Temperature Control of Distillation Column
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Commercial Autotuners
One-button autotuning
Automatic generation of
gain schedules
Adaptation of feedback
gains
Adaptation of feedforward
gain
Many versions
Single loop controllers
DCS systems
Robust
Excellent industrial
experience
Large numbers
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Automatic Generation of Gain-schedules
Valve position K Ti Td
0.00-0.15 1.7 95 23
0.15-0.22 2.0 89 22
0.22-0.35 2.9 82 21
0.35-1.00 4.4 68 17
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Results
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Industrial Systems
Functions
Automatic tuning AT
Automatic generation of gain scheduling GC
Adaptive feedback AFB and adaptive feedforward AFF
Sample of products
NAF Controls SDM 20 - 1984 DCS AT, GS
SattControl ECA 40 - 1986 SLC AT, GS
Satt Control ECA 04 - 1988 SLC AT
Alfa Laval Automation Alert 50 - 1988 DCS AT, GS
Satt Control SattCon31 - 1988 PLC AT, GS
Satt Control ECA 400 -1988 2LC AT, GS, AFB, AFF
Fisher Control DPR 900 - 1988 SLC
Satt Control SattLine - 1989 DCS AT, GS, AFB, AFF
Emerson Delta V - 1999 DCS AT, GS, AFB, AF
ABB 800xA - 2004 DCS AT, GS, AFB, AFF
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Emerson Experience
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Potential Improvements
Dramatic increases of computing power
Better modeling
Asymmetric relay - better excitation d1
Identification - dont wait for steady
state 0 ±h
−d2
Additonal test signal - chirp
Assessment of several models
Improved control design
R∞
Load disturbance attenuation: minimize IAE= 0 ps(t)pdt
Robustness: limit maximum sensitivities Ms , Mt
Measurement noise injection: bound noise gain pp Gun pp
Constrained optimization: efficient algorithms
Multivariable systems
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Initialization and Asymmetric Relay
10
Amplitudes
−5
0 20 40 60 80 100 120
Time [s]
Better excitation
The amplitudes are ramped up, and adjusted to get
the desired process deviations.
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Better Excitation with Asymmetric Relay
0.08
0.06
|U|2
R
0.04
|U|2
0.02
0.00
0 1 2 3 4 5 6 7 8 9 10
ω [rad/s]
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Typical Experiments
10 2
5 1
y
u 0 0
−5 −1
10 11 12 13 14 15 16
10 2
5 1
y
u
0 0
−5 −1
0 10 20 30 40 50
10 2
5 1
y
u
0 0
−5 −1
10 12 14 16 18 20 22
Time [s]
u(t) = (a + b t) sin (c + d t)
Frequency varies between a and c + d tmax amplitude between a and
a + b tmax
2
u(t)
−2
−4
0 1 2 3 4 5 6 7 8 9 10
1
u(t)dt
0.8
0.6
0.4
Rt
0.2
0
0 1 2 3 4 5 6 7 8 9 10
t
0.05
0
−1
−0.05 10
−0.1
−0.15
−2
−0.2 10
−2 −1 0 1 2
0 0.5 1 1.5 2 2.5 3 10 10 10 10 10
0.08 0
0.06
−90
0.04
−180
0.02
0 −270
−2 −1 0 1 2
0 0.5 1 1.5 2 2.5 3 10 10 10 10 10
0 0
10 10
−1 −1
10 10
−2 −2
10 10
−2 −1 0 1 2 −2 −1 0 1 2
10 10 10 10 10 10 10 10 10 10
0 0
−90 −90
−180 −180
−270 −270
−2 −1 0 1 2 −2 −1 0 1 2
10 10 10 10 10 10 10 10 10 10
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Properties of Relay Auto-tuning
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
The Millon Dollar Question
ysp e u y
G (s)
−1
Characterize all transfer functions G that give a unique stable limit cycle
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Control System Design - PID Control
1 Introduction
2 The Controller
3 Performance and Robustness
4 Tuning Rules
5 Relay Auto-tuning
6 Limitations of PID Control
7 Summary
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Limitations of PID Control
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Complicated Dynamics
ϕ1 ϕ2
I
Motor
ω1 ω2
J1 J2
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
PID Control
With an ideal PID controller and the approximate model the loop
transfer function is
0.45( kd s2 + kp s + ki )
L(s) =
s3
We will add high frequency roll-off later. Closed loop characteristic
polynomial
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
PID Control ...
1.5 1.5
1 1
y
y
0.5 0.5
0 0
0 50 100 150 200 0 50 100 150
(a) (b)
1.5 1.5
1 1
y
y
0.5 0.5
0 0
0 20 40 60 80 100 0 20 40 60 80
(c) (d)
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Observer and State Feedback
4
2
y
1
−1
−2
0 2 4 6 8 10 12 14 16 18 20
10
6
u
−2
0 2 4 6 8 10 12 14 16 18 20
t
ϕ 1 blue, ϕ 2 red
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Comparison PID SFB - GoF
2
10
p PS(iω )p
pT (iω )p
0
10
0
10
−2 −2
10 10
−2 −1 0 1 −2 −1 0 1
10 10 10 10 10 10 10 10
p CS(iω )p
2
10
p S(iω )p
0
10
0
10
−2
10
−2
10
−2 −1 0 1 −2 −1 0 1
10 10 10 10 10 10 10 10
ω /ω 0 ω /ω 0
PID SFB
1.4
1.2
1 1
ϕ 1,2
ϕ 1,2
0.8
0.6
0.4
0.2
0
0
0 50
100 150 0 5
10 15
−3
x 10
4
3
1
2
u
u
1
0
0
−1
−1 −2
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Set Point and Load Disturbance Response SFBI
0
1
ϕ 1,2
ϕ 1,2
−1
0.5
−2
0 0 2 4 6 8 10
0 2 4 6 8 10 12
5
0.2
0.1
u
0
u
0
−0.1
−5
−0.2
0 2 4 6 8 10 12 0 2 4 6 8 10
Time t Time t
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Control System Design - PID Control
1 Introduction
2 The Controller
3 Performance and Robustness
4 Tuning Rules
5 Relay Auto-tuning
6 Limitations of PID Control
7 Summary
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Summary
kd s2 + kp s + ki 1
C(s) = G f (s), G f (s) =
s 1 + sT f + s2 T f2 /(4ζ 2f )
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control
Reading Suggestions
Bo Bernhardsson and Karl Johan Åström Control System Design - PID Control