Performance and robustness trade-offs in PID control

•Presents trade-off plots that give insight into constrained PID control design.•Provides tuning intuition.•Compares common PI tuning methods, exposing their strengths and weaknesses.•Presents a parametrization of optimal controllers. Control design is a rich problem which requires consideration of...

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Bibliographic Details
Published inJournal of process control Vol. 24; no. 5; pp. 568 - 577
Main Authors Garpinger, Olof, Hägglund, Tore, Åström, Karl Johan
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.05.2014
Subjects
Control Engineering
Disturbance attenuation
Electrical Engineering, Electronic Engineering, Information Engineering
Elektroteknik och elektronik
Engineering and Technology
Optimization
PID control
Reglerteknik
Robustness
Teknik
Tuning
Robustness
PID control
Optimization
Tuning
Disturbance attenuation
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Summary:•Presents trade-off plots that give insight into constrained PID control design.•Provides tuning intuition.•Compares common PI tuning methods, exposing their strengths and weaknesses.•Presents a parametrization of optimal controllers. Control design is a rich problem which requires consideration of many issues such as load disturbance attenuation, set-point tracking, robustness with respect to process variations and model uncertainty, and effects of measurement noise. The purpose of this paper is to provide insight into the trade-offs between performance and robustness explicitly. This is accomplished by introducing plots that show the trade-offs for PI and PID control. These also provide valuable understanding of design compromises used for common PI design methods.
ISSN:0959-1524
1873-2771
1873-2771
DOI:10.1016/j.jprocont.2014.02.020