Pid Control System Design and Automatic Tuning Using Matlab/Simulink - Liuping Wang

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Résumé :

Preface xv

Acknowledgment xvii

List of Symbols and Acronyms xix

About the Companion Website xxi

1 Basics of PID Control 1

1.1 Introduction 1

1.2 PID Controller Structure 1

1.2.1 Proportional Controller 1

1.2.2 Proportional Plus Derivative Controller 3

1.2.3 Proportional Plus Integral Controller 5

1.2.4 PID Controllers 9

1.2.5 The Commercial PID Controller Structure 12

1.2.6 Food for Thought 13

1.3 Classical Tuning Rules for PID Controllers 13

1.3.1 Ziegler-Nichols Oscillation Based Tuning Rules 13

1.3.2 Tuning Rules based on the First Order Plus Delay Model 15

1.3.3 Food for Thought 17

1.4 Model Based PID Controller Tuning Rules 18

1.4.1 IMC-PID Controller Tuning Rules 18

1.4.2 Padula and Visioli Tuning Rules 19

1.4.3 Wang and Cluett Tuning Rules 20

1.4.4 Food for Thought 21

1.5 Examples for Evaluations of the Tuning Rules 21

1.5.1 Examples for Evaluating the Tuning Rules 21

1.5.2 Fired Heater Control Example 25

1.6 Summary 27

1.7 Further Reading 28

Problems 28

2 Closed-loop Performance and Stability 31

2.1 Introduction 31

2.2 Routh-Hurwitz Stability Criterion 31

2.2.1 Determining Closed-loop Poles 32

2.2.2 Routh-Hurwitz Stability Criterion 33

2.2.3 Food for Thought 36

2.3 Nyquist Stability Criterion 36

2.3.1 Nyquist Diagram 36

2.3.1.1 Gain Margin 38

2.3.1.2 Phase Margin 38

2.3.1.3 Delay Margin 38

2.3.2 Rework of Tuning Rules based PID Controllers 40

2.3.3 Food for Thought 42

2.4 Control System Structures and Sensitivity Functions 42

2.4.1 One Degree of Freedom Control System Structure 43

2.4.2 Two Degrees of Freedom Design 44

2.4.2.1 Two degrees of freedom implementation of PI controllers 45

2.4.3 Sensitivity Functions in Feedback Control 45

2.4.4 Food for Thought 47

2.5 Reference Following and Disturbance Rejection 47

2.5.1 Closed-loop Bandwidth 47

2.5.2 Reference Following and Disturbance Rejection with PID Controllers 50

2.5.3 Reference Following and Disturbance Rejection with Resonant Controllers 53

2.5.4 Food for Thought 54

2.6 Disturbance Rejection and Noise Attenuation 54

2.6.1 Conflict between Disturbance Rejection and Noise Attenuation 54

2.6.2 PID Controller for Disturbance Rejection and Noise Attenuation 55

2.6.3 Food for Thought 58

2.7 Robust Stability and Robust Performance 59

2.7.1 Modeling Errors 59

2.7.2 Robust Stability 60

2.7.3 Case Study: Robust Control of Polymer Reactor 62

2.7.4 Food for Thought 65

2.8 Summary 65

2.9 Further Reading 67

Problems 67

3 Model-Based PID and Resonant Controller Design 71

3.1 Introduction 71

3.2 PI Controller Design 71

3.2.1 Desired Closed-loop Performance Specification 71

3.2.2 Model and Controller Structures 72

3.2.3 Closed-loop Transfer Functions for Different Configurations 75

3.2.4 Food for Thought 77

3.3 Model Based Design for PID Controllers 78

3.3.1 PD Controller Design 78

3.3.2 Analytical Examples for Ideal PID with Pole-zero Cancellation 81

3.3.3 Analytical Examples for PID Controllers with Filters 84

3.3.4 PID Controller Design without Pole-Zero Cancellation 92

3.3.5 MATLAB Tutorial on Solution of a PID Controller with Filter 94

3.3.6 Food for Thought 95

3.4 Resonant Controller Design 96

3.4.1 Resonant Controller Design 96

3.4.2 Steady-state Error Analysis 97

3.4.3 Pole-Z...

Biographie:

LIUPING WANG, PHD, is a Professor at RMIT University in Australia. An electrical engineer by training, Professor Wang gained substantial process control experience by working in the Chemical Engineering Department at the University of Toronto, Canada, and the Center for Integrated Dynamics at the University of Newcastle, Australia. She is the author of four books in the areas of model predictive control, control systems for electric drives and power converters, system identification, and PID control....

Sommaire:

Covers PID control systems from the very basics to the advanced topics

This book covers the design, implementation and automatic tuning of PID control systems with operational constraints. It provides students, researchers, and industrial practitioners with everything they need to know about PID control systems-from classical tuning rules and model-based design to constraints, automatic tuning, cascade control, and gain scheduled control.?

PID Control System Design and Automatic Tuning using MATLAB/Simulink introduces PID control system structures, sensitivity analysis, PID control design, implementation with constraints, disturbance observer-based PID control, gain scheduled PID control systems, cascade PID control systems, PID control design for complex systems, automatic tuning and applications of PID control to unmanned aerial vehicles. It also presents resonant control systems relevant to many engineering applications. The implementation of PID control and resonant control highlights how to deal with operational constraints.

Provides unique coverage of PID Control of unmanned aerial vehicles (UAVs), including mathematical models of multi-rotor UAVs, control strategies of UAVs, and automatic tuning of PID controllers for UAVs

• Provides detailed descriptions of automatic tuning of PID control systems, including relay feedback control systems, frequency response estimation, Monte-Carlo simulation studies, PID controller design using frequency domain information, and MATLAB/Simulink simulation and implementation programs for automatic tuning
• Includes 15 MATLAB/Simulink tutorials, in a step-by-step manner, to illustrate the design, simulation, implementation and automatic tuning of PID control systems
• Assists lecturers, teaching assistants, students, and other readers to learn PID control with constraints and apply the control theory to various areas.
• Accompanying website includes lecture slides and MATLAB/ Simulink programs

PID Control System Design and Automatic Tuning using MATLAB/Simulink is intended for undergraduate electrical, chemical, mechanical, and aerospace engineering students, and will greatly benefit postgraduate students, researchers, and industrial personnel who work with control systems and their applications. ?