DIGITAL CONTROL PAST,PRESENT AND FUTURE OF PID CONTROL - PDF by olliegoblue28

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                           IFAC
           International Federation of Automatic Control




            DIGITAL CONTROL:
         PAST,PRESENT AND FUTURE
              OF PID CONTROL
           A Proceedings vo/ume from the IFAC Workshop
                  Terrassa, Spain, 5 - 7April 2000


                       Edited by
               1. QUEVEDO and T. ESCOBET




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                        PERGAMON


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                                                      CONTENTS



                                                    KEYNOTEPAPERS
    The Past ofPID Controllers
    S.BENNETI

    PID-Deadtirne Control ofDistributed Processes                                      13
    F.G. SHINSKEY

    The Future ofPID Control                                                           19
    K,J. ASTROM, T. HÁGGLUND


                        NEW STRUCTURES AND DESIGN OF PID CONTROLLERS 1

    A Repetitive-PD Controller for a Low Order Industrial Plant                        31
    R. COSTA-CASTELLÓ, R. GRIÑó

    PID Robust Model Following Control                                                 37
    S. SKOCZOWSKI, S. DOMEK

    A Different Approach to PID Design                                                 43
    K.A. STILLMAN

    On Fractional PID Controllers: A Frequency Dornain Approach                        51
                          L
    B.MVINAGRE,l. PODLUBNY, . DORCAK,V. FELlU

    A Neuro PID Controller for Cornplex Dynamic Plants                                 57
    Q.M. ZHU, K. WARWlCK

    Design ofPID Controllers via Frequency Response Approxirnation                     63
    S. PEGEL,   S. ENGELL



                                     TUNING RULES FOR PID CONTROLLERS

    A Reference Guide to PID Controllers in the Nineties                               69
    M. LELlé, Z. GAJlé

    Autornatic Tuning ofPID Controllers for MIMO Processes                             79
    H. ONO, T. SONODA, A. MAEKA WA

    Control Design for PID Controllers Auto-Tuning Based on Irnproved Identification   85
    R.R. PECHARROMÁN, F.L. PAGOLA

    Two-Degree-of-Freedorn PID Controllers - Their Functions and Optimal Tuning        91
    H. TAGUCHI, M. ARAKl

    A Cornplernent to Autotuning Methods on PID Controllers                            97
    R. FERREIROGARCíA,F.1 PÉREZCASTELO


                            ELECTRICAL APPLICATIONS OF PID CONTROLLERS

    Design and Tuning ofPI Velocity Regulators for High Perfonnance Drives             101
    1M. GUERRERO, F. BRIZ, A. DIEZ, J.C. ALVAREZ

    Nonlinear Multivariable Speed and Flux PI Control ofInduction Motors               107
    M.K. MAAZIZ, E. MENDES, P. BOUCHER, D. DUMUR




                                                                  v
 Modelling and PID Control of a Rotary Dryer                                                            113
 F.R. RUBIO, C. BORDONS, 1. HOLGADO, R. ARJONA

The Generalized PID ControlIer and Its Application to Control of Ultrasonic and Electric Motors        II9
I. RUSNAK

Digital Servo IC for Optical Disc Drives                                                               125
T.H. AKKERMANS, S.G. STAN


                                TUNING METHODS OF PID CONTROLLERS

Nonmodel-Based Explicit Design Relations for PID ControlIers                                           133
R. GOREZ, P. KLÁN

Robust Automatic Tuning of an Industrial PI ControlIer for Dead-Time Systems                           141
A INGIMUNDARSON, T. HÁGGLUND

Methodologies for the Tuning of PID Controllers in the Frequency Domain                                147
F. MORILLA, S. DORMIDO

Auto-Tuning PID Controllers in Terms ofRelative Damping                                                153
F. MORILLA, A GONZÁLEZ, N. DURO


                                                  POSTER PAPERS

A Summary ofPI and PID ControlIer Tuning Rules for Processes with Time Delay. Part 1: PI ControlIer
Tuning Rules                                                                                           159
A.O'DWYER

Benchmark Systems for PID Control                                                                      165
K.1. ASTROM, T. HÁGGLUND

Self-Tuning PID Controllers Based on Dynamics Inversion Method                                         167
V. BOBÁL, P. DOSTÁL, 1. MACHÁCEK, M. VlTECKOV Á.

DIRAC: A Direct Adaptive ControlIer                                                                    173
R. De KEYSER

Co-Evolutionary Design ofPID Control Structures                                                        179
P.B. de MOURA OLIVEIRA, AH. JONES

Alternative to Adjust the Rule Base on Rule Based Controllers                                          189
R. FERREIRO GARCÍA, X. PARDO MARTlNEZ, J. VIDAL PAZ

Bifurcation Analysis of Indirect Field-Oriented Control of Induction Motors                            193
F. GORDILLO, F. SALAS, R. ORTEGA, J. ARACIL

Adaptive Design ofPID Controllers Based on an Alternative Method to Root Locus                         199
M. MARTÍNEZ, J.V. SALCEDO, J. MUÑoz

Plant Driven Design of a Nonlinear PID ControlIer                                                      205
R. NEVES DA SILVA

A Summary ofPI and PID ControlIer Tuning Rules for Processes with Time Delay. Part 2: PID ControlIer
Tuning Rules                                                                                           211
A O'DWYER

Fuzzy PD Control of an Unstable System                                                                 217
M. OLIV ARES, P. ALBERTOS

Cross-Optimization Aspects Concerning the Extended Symmetrical Optimum Method                          223
S. PREITL, R.-E. PRECUP




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       Discrete-Time Model Reference Feedback and PID Control for Interval Plants                    229
       F. TAKEMORI, Y. OKUYAMA

       OxygenControl ofBioreactor Model Using Fuzzy Processed PID ControlIer Outputs                 235
       D. VRECKO, D. VRANCIé, 1. KOCIJAN, N. HVALA

       Understanding the PID and Its Tuning                                                          241
       E.H. BRISTOL

       SomeConsiderations About the Refinements and the Accuracy ofPID-ControlIers                   247
       D. POPESCU, G. TAMBOZI, C. PETRESCU

       ControlIer Tuning for ControlIed Plants with Time Delay                                       253
       M.vtrECKOVA, A vtTEéEK, L. SMUTNY

       SimplePI and PID ControlIers Tuning for Monotone Self-Regulating Plants                       259
       M.vtTECKOV A, A vtTEéEK, L. SMUTNY


                              NEW STRUCTURES AND DESIGN OF PID CONTROL 11

       PIDTuning for Loop Decoupling ofMultivariable Systems with Uncertainty                        265
       1.EGAÑA, M. GARCÍA-SANZ

       A New Tuning ofPID ControlIers Based on LQR Optimization                                      271
       R. ARGELAGUET, M. PONS, J. QUEVEDO, 1.AGUILAR

       DesignofPID ControlIers Using Multiobjective Genetic Algorithms                               277
       A HERREROS, E. BAEYENS, J.R. PERÁN

       PID ControlIer and LQ Control Design                                                          283
       1. MIKLES, ~. KOZKA, C. CIRKA

       Robust PID-Like ControlIers   -   Design and Tuning                                           289
               P         Z
       R.PROKOP, . HUSTÁK, . PROKOPOVÁ


                                            SUPERVISI0N OF PID CONTROLLERS

       RelayFeedback Experiment for Coulomb Friction Identification                                  295
       A. BESANc;ON-VODA, P. BLAHA

       SoftwareEnhancements Improve Usefulness ofa PI(D) Self-Tuning Application                     301
       A.F.DOONAN, C.S. COX, P.R. DANIEL

       Fault-Tolerant PID ControlIers Using a Passive Robust Fault Diagnosis Approach                309
       V. PUlG, J. QUEVEDO

       ModelFault Detection ofFeedback Systems: Howand Why to Use the Output ofthe PID ControlIer?   319
       J. QUEVEDO, V. PUlG, T. ESCOBET

       Near Optimal Tuning Rules for PI and PID ControlIers                                          325
       8. KRISTIANSSON, B. LENNARTSON



                                          INDUSTRIAL CONTROL APPLICATI0NS 1

       A Distributed PID ControlIer for an Injector Powered Transonic Wind Tunnel                    331
       F. CORRARO, U. CINIGLIO, L. VERDE

       A PID Control Scheme for Trajectory Simulation in High Enthalpy Test Facilities               337
       M. NADDEI, F. CORRARO, L. VERDE

       PID and Non-Linear Controllers for Power Hydraulic Turbines                                   343
       O. QUIROGA, C. BATLLE, J. RIERA




                                                                 vii
 Reuse- and Object-Oriented Developrnent of Standard Control Algorithms                                       349
 J. SCHÁFER, L. LITZ

 Control of a Cryogenic Process Using a Fuzzy PID Scheduler                                                   355
 M. SANTOS, 1 BRANDIZZI, A.L. DEXTER

Optimal Control Strategies for Irnaging Using Formation Flying Spacecraft                                     361
F.Y. HADAEGH, M. MESBAHI


                                OPTIMAL TUNING OF PID CONTROLLERS

Tuning ofPID ControlIers: An Optimization-Based Method                                                        367
CA NETO, M. EMBIRU<;U

Derivation and Tuning ofPID ControlIer via Output Tracking Direct Gradient Descent Control                    373
K.SHIMIZU,E.DE~A

Interval PI Velocity Control ofa Non-Holonornic Mobile Robot                                                  379
J. VEHÍ, A FIGUERAS, N. LUO

Magnitude Optirnurn Tuning Using Non-Parametric Data in the Frequency Dornain                                 385
D. VRANClé, S. STRMCNlK, R HANUS

A Geneml Approach to PID Optimal Design: Achievable Designs and Generation of Stabilizing ControlIers         391
R VILANOVA, l. SERRA, C. PEDRET


                               INDUSTRIAL         CONTROL APPLICATIONS               11

PID Dual Loop Control for Industrial Processes                                                                397
R.M. De SANTIS

Frorn Adaptive PBC to PI Nested Control for STATCOM                                                           403
          A                           F           J
G. ESCOBAR, M. STANKOVlé.P. MATTAVELLI, . GORDILLO, . ARACIL

LS-3000 DigitaI PID ControlIer                                                                                409
J. PI-MIRA, E. MATEO, R SARRATE-ESTRUCH, J. QUEVEDO-CASIN

Retuming PID Ternpemture ControlIer for an Unstable Gas-Phase Polyolefin Reactor                              417
H. SEKI, M. OGAWA, M. OHSHIMA

Tuning of a pH Control Loop in a Kaolin Mining Process                                                        423
B.S. TORRES, RT. PENA, AH.C. NAVES, O.S. ~RÉ             Jr.


                           ADAPTIVE AND TUNING OF PID CONTROLLERS

Robust Adaptive PID ControlIer Tuning for Unmeasured Load Rejection                                           429
P.D. HANSEN

Adaptive PID ControlIer with On-Line Identification                                                           437
1 MACHÁCEK, V. BOBÁL

A New On-Line PID Tuning Method Using NeuraI Networks                                                         443
AB. RAD, T.W. BUI, YAN LI, Y.K. WONG

Tuning of a Adaptive Power Systern Stabilizer by a Fuzzy Logic Based Supervisor frorn a Local Model Network   449
C. TAVARES da COSTA Jr., lA.L. BARREIROS, D. BRUN-PICARD

Adaptive Tuning ofFuzzy Set-Point Weighting for PID ControlIers                                               455
A VISIOLI




                                                          viii


                                                                                                                    ,j
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                   COMPLEX SYSTEMS AND NEW STRUCTURES OF PID CONTROLLERS

      Fffi DifIerentiator Based on a Polynomial Least Squares Estimation. Application to PID Control      461
      1. COLOMER,J. MELÉNDEZ

      From PID to Model Predictive Control: A Flatness Based Approach                                     469
      R MARQUEZ, M. FLIESS

      Model Reference PI Control of a Multivariable   System with Saturation   - A Case   Study           475
      P. STEWART, V. KADIRKAMANATHAN


                               TUN1NG AND SELF-TUNlNG OF PID CONTROLLERS

      Simulationand Pilot Plant Trials Aid Commissioning ofNeuro Self-Tuning PI Controller                481
      T.J. BOHME, C. COX, A. ADGAR

      Relay Feedback Identification Under Imperfect Actuator                                              487
      Y.C. CHENG, C.C. YU

      PID SelfTuning Algorithm for Industrial Compact ControlIers                                         493
      1. HÜCKER, H. RAKE

      PID Control for a Distributed System with a Smart Actuator                                          499
      D. LEE, HA THOMPSON, S. BENNETT

      PID - Gain Scheduling ControlIer for a Robot Manipulator                                            505
      C. PÉREZ, C. VN AS, F.R. RUBIO

      Self-Tuning PID ControlIers Based on the Strongly Stable Generalized Minimum Variance Control Law   511
      T. SATO,A. INOUE, T. y AMAMOTO, S.L. SHAH


                                       PERFORMANCES OF PID CONTROLLERS

      DescribingFunction Method for Stability Analysis ofPD and PI Fuzzy Controllers                      517
      1. ARACIL, F. GORDILLO

      On Optimizing PID Controllers for Uncertain Plants Using Horowitz Bounds                            523
      C-M. FRANSSON, B. LENNARTSON, T. WIK, P.O. GUTMAN

      A Comparison ofStability and Performance Robustness ofMultivariable PID Tuning Methods              529
      M.R KATEBI, M.H. MORADI, MA JOHNSON

      Robust Design ofPID Controllers Through the Randomised Approach                                     535
      J. SERRANO,M.Y. EL GHOUMARI, D. MEGÍAS

      Implementation ofHigh-Performance PID Controllers Using RNS and Field-Prograrnmable Devices         541
      L. PARRILLA, A. GARCÍA, A. LLORIS


                                 LEARNING AND TUNING OF PID CONTROLLERS

      Iterative Feedback Tuning of a PID in a Pilot Plant                                                 545
      R MAZAEDA, C. de PRADA

      Design and Experimental Evaluation of Self-Tuning PID ControlIer Using Evolutionary Computation     553
      Y. MITSUKURA, T. y AMAMOTO, M. KANEDA, M. FUKUMI, N. AKAMATSU, S.L. SHAH

      Robust PID Tuning. Application to a Mobile Robot Path Tracking Problem                              559
      lE. NORMEY-RICO, A. ALCALÁ, J. GóMEZ-ORTEGA, E.F. CAMACHO

      A Design of Self-Tuning PID ControlIer with a Time-Delay Compensator                                565
      Y. OHNISm, T. y AMAMOTO, S.L. SHAH




                                                                   ix
Tuning Fuzzy PI ControIlers by Iterative Learning                                           571
V.V~LAGRÁN,D.SBARBARO

Fuzzy Logic Based Tuning ofPID Controllers for Plants with Under-Damped Response            577
A. VISIOLI

                            GENERAL CONTRIBUTIONS TO PID CONTROL
A New Ratio Control Structure                                                               583
T. HÁGGLUND

Optimal-Tuning PID Control for Industrial Systems                                           589
G.P. LIU, S. DALEY

RaPID: The End ofHeuristic PID Tuning                                                       595
P. Van OVERSCHEE, B. De MOOR

Tuning PID Controllers for Minimizing ISE and Satisfying Specified Gain and Phase Margins   601
J.-H. HWANG, S.-Y. TSAY, C. HWANG


Author Index                                                                                607




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