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Abstract
One of the key time-domain closed-loop performance requirements is the closed-loop response decay ratio. In this paper, the decay ratios of
the disturbance-rejection magnitude optimum (DRMO) tuning method [Vrančić D, Strmčnik S, Kocijan J. Improving disturbance rejection of PI
controllers by means of the magnitude optimum method. ISA Trans 2004; 43: 73–84; Vrančić D, Strmčnik S. Achieving optimal disturbance
rejection by using the magnitude optimum method. In: Pre-prints of the CSCC’99 conference. 1999. p. 3401–6] are analyzed and compared
to decay ratios of two other modern tuning methods, i.e. the Kappa–Tau tuning method (based on time-domain step-response characteristics)
[Åström KJ, Högglund T. PID controllers: Theory, design, and tuning. 2nd ed. Instrument Society of America; 1995] and the non-convex
optimization tuning method (based on frequency response) [Panagopoulos H, Åström KJ, Hägglund T. Design of PI controllers based on non-
convex optimization. Automatica 1998; 34: 585–601; Panagopoulos H, Åström KJ, Hägglund T. Design of PID controllers based on constrained
optimisation. IEE Proc Control Theory Appl 2002; 149 (1): 32–40]. It is shown that the DRMO method results in such a closed-loop response
that the decay ratio is within a relatively narrow interval when compared to the other two methods.
c 2007, ISA. Published by Elsevier Ltd. All rights reserved.
Table 1
Controller parameters for processes (24)–(28)
Fig. 4. The histogram of the decay ratios for closed-loop systems with a PI
controller and processes G P1 to G P10 .
Fig. 5. Determination of process static gain, lag time and apparent dead time Fig. 6. Response on input disturbance (r = 0, d = 1) of process G P1 (24).
from process response on unity step input.
4.3. Simulation results
method [3] and non-convex tuning in frequency domain
The sets of tuning rules for PI control described in
(denoted as NC) [4,5]. A short description of these tuning
Sections 3, 4.1 and 4.2 were applied to the following process
methods follows in the next two sub-sections.
models:
4.1. Kappa–Tau (KT) tuning method 1
G P1 = , (24)
(s + 1)3
This method basically derives from the original Ziegler– 1
Nichols rules [3]. The desired maximum sensitivity (Eq. (2)) is G P2 = , (25)
(s + 1) (1 + 0.2s) (1 + 0.04s) (1 + 0.008s)
used as a tuning parameter. If the process is stable, its dynamics
is characterized by three parameters: the static gain K PR , the e−15s
G P3 = , (26)
apparent dead time L, and the apparent lag T (Fig. 5), which (s + 1)3
can all be obtained from a simple open-loop experiment. 1 − 2s
The procedure of calculating these parameters is given in [3]. G P4 = , (27)
(s + 1)3
4.2. Non-convex (NC) based optimization tuning method G P5 = e−s . (28)
The PI controller parameters, calculated from all three
This method is based on non-convex optimization in tuning methods, are given in Table 1. For KT these parameters
frequency domain [4]. The controller parameters are adjusted are calculated for Ms = 1.4 and Ms = 2, and for NC method
until a certain value of sensitivity Ms (Eq. (2)) is achieved Ms = 1.4, 1.6, 1.8 and 2.
at highest integral gain (K i ). This method requires either the Figs. 6–10 show the closed-loop responses on input distur-
process model transfer function or the frequency characteristics bance for processes G P1 (24) to G P5 (28). In Fig. 11 the corre-
of the process. sponding decay ratios are depicted for all three tuning methods.
98 S. Lumbar et al. / ISA Transactions 47 (2008) 94–100
Fig. 7. Response on input disturbance (r = 0, d = 1) of process G P2 (25). Fig. 10. Response on input disturbance (r = 0, d = 1) of process G P5 (28).
Fig. 8. Response on input disturbance (r = 0, d = 1) of process G P3 (26). Fig. 11. Decay ratios of processes (24)–(28). Top: DRMO tuning method (+),
the KT tuning method with Ms = 1.4 (4) and the KT tuning method with
Ms = 2 (◦). Bottom: The NC tuning method with Ms = 1.4 (O), NC tuning
method with Ms = 1.6 (4), NC tuning method with Ms = 1.8 (◦), NC tuning
method with Ms = 2 (×).
References
Damir Vrančić received the B.S., M.S. and Ph.D. Stanko Strmčnik was born in Vitanje, Slovenia in
degrees in electrical engineering at the Faculty 1949. He received his B.Sc., M.Sc., and Ph.D. from the
of Electrical and Computer Engineering, University Faculty of Electrical Engineering, University of Ljubl-
of Ljubljana, Slovenia, in 1991, 1995 and 1997, jana in 1972, 1975 and 1979 respectively. In 1973 he
respectively. Since 1992, he has been with the joined J. Stefan Institute in Ljubljana. Since 1986, he
Department of Systems and Control at J. Stefan has been the head of the Department of Systems and
Institute. His research interests include PID control, Control at the same institute. His research interests con-
tuning, modeling, simulation and design of anti-windup cern mathematical modelling, identification, process
protection. control and non-technical aspects of automation. He is
also an associated professor at the Faculty of Electrical
Engineering, University of Ljubljana and Polytechnics, Nova Gorica.