Handbook-of-PI-and-PID-Controller-Tuning-Rules---[

»BOOKSHELF92IEEECONTROLSYSTEMSMAGAZINE»FEBRUARY20061066-033X/06/$20.00©2006IEEEHandbookofPIandPIDControllerTuningRulesBYAIDANO’DWYERThefirstcontrollerswithpropor-tional,integral,andderivative(PID)feedbackcontrolactionbecamecommerciallyavailableduringthe1930s.The1940ssawwidespreadacceptanceinindus-tryofpneumaticPIDcontrollers,andtheirelectroniccounterpartsenteredthemarketinthe1950s.Digitalhardwarehasbeenrou-tinelyusedsincethe1980swithsignificantimpactonprocesscontrol.Evenseveraldecadesafterthree-modecontrollerswereintroduced,thevastmajorityofcontrollersusedinthechemicalprocessindustryarebasedonPI/PIDmodels[1].Thepopularityofthesecontrollershasledtoresearchontuningmethods,resultinginhundredsofpublicationsonthistopic[2]–[9].Ziegler-Nicholstuningrelations[10]andCohen-Coontuningrules[12]areamongtheearliestpublishedmethods.Tuningrelationsbasedonerrorcriteria[7],aswellasmorerecentmodel-basedtuningrulessuchasinternalmodelcontrol(IMC)[12]anddirectsynthesis[13],offerimprovementsoverearliertuningmethods.Tuningrulesalsoexistforunstableprocesses[14]aswellasfortuninginthepresenceofplant-modelmismatch[15].Despitethenumerousapproachesavailableforcontrollertuning,surveysindicatethatpoorlytunedcontrolloopsareabundantinindustry[16].Infact,somecontrolloopsarenotproperlytunedwhentheyareimplemented,whileotherloopsarenotupdatedsufficientlyoften[16].ThissituationismotivationforO’Dwyer’sbook,whichprovidesacompre-hensivesummaryofPIandPIDcontrollertuningrelationspublishedoverthelastsixdecades.Specialattentionisgiventotheuseofaconsistentnotationforthesetuningmethods.CONTENTSOFTHEBOOKHandbookofPIandPIDControllerTuningRulesisstructuredintofivechaptersandtwoappendices.Chapter1providesageneralintroductiontothetopic,whileChapter2presentsbackgroundmaterialneededforusingthecontrollertuningtablespresentedinChapters3and4.ThebookconcludesinChapter5withadiscussionofperformanceandrobustnessissues.Amoredetaileddescriptionofthecontentsofthebookisgivenbelow.Chapter2presentsPIandPIDcontrollerstructuresthatappearintheliteratureaswellasinprocesscontrolequipment.Alistofprocessmodelswithtimedelayprovidesthefounda-tionfordefiningthetuningrulesintheremainderofthebook.ThecontrollertuningrulesforPIandPIDcontrollersarepresentedinChapters3and4,respectively.Beforeacontrollercanbetuned,itisnecessarytospecifythestructureofthecon-trolleraswellastheformofthemodelusedtorepresentthedynamicresponseofthecontrolledvariables.Oncethisinfor-mationisdetermined,thereadercancomputetuningparame-tersusingtheformulaspresentedinChapters3and4.Thesechapterscontainatotalof112tables.AnalyticalcalculationsareprovidedinChapter5forgainandphasemarginsofPI/PIDcontrollerswhentheprocessmodelconsistsofafirst-orderplustime-delaytransferfunc-tion.Thesecalculationsaregraphicallyillustratedforseveraltuningmethodsandvaryingratiosofthetimedelaytotheplanttimeconstant.Theresultsfromthischapteraretakenfromworkoftheauthor[17],[18].CONTRIBUTIONOFTHETEXTThesummaryofcontrollertuningmethodsandthereferencelistarecomprehensive.Thecoreinformationofthebookismostlyprovidedintableform.Unfortunately,littleback-groundmaterialispresentedontheideasbehindthecon-trollertuningmethods;instead,thereaderisreferredtotherelevantreferences.Overall,theemphasisisonsummarizingmethods,withlittleinformationgivenontheadvantagesanddisadvantagesofdifferenttechniques.ImperialCollegePress,London,2003,392pp.,US$77.00ISBN1-8609-4342-XAllofthebookreviewsinthisissuearedevotedtopropor-tional-integral-derivative(PID)control,whichisthefocusofthisissue’sspecialsection.Webringyoureviewsoffourbooks.ThebookbyO’DwyerprovidesencyclopediccoverageofPIDtuningrulesdevelopedoverthepasthalf-century.Next,thebookbySilva,Datta,andBhattacharyyafocusesonPIDcontrolofdelaysystemsofthetypeconsideredbyZieglerandNichols.Thethirdreviewdiscussesaneditedvolumeofpaperscover-ingabroadrangeoftopics.Finally,therecentbookbyÅströmandHägglund,whichiseffectivelythethirdeditionoftheirclas-sicworkonPIDcontrollers,isreviewed.Astheassociateeditorforbookreviews,Iamcontinuallylookingfornewbookstoreview.Ifyouaretheauthorofarecentlypublishedorsoon-to-be-releasedbookrelatingtoanyaspectofsystemsandcontrol,pleasecontactme.Mygoalistomakethisdepartmentasinclusiveaspossi-ble,coveringeverythingfrommonographsandtextbookstopopularbooks.Iencouragesuggestionsforb[e-mail]1066-033X/06/$20.00©2006IEEEFEBRUARY2006«IEEECONTROLSYSTEMSMAGAZINE93PIDControllersforTime-DelaySystemsBYGUILLERMOJ.SILVA,ANIRUDDHADATTA,ANDS.P.BHATTACHARYYAIn1942,ZieglerandNicholssug-gestedthatmanypracticalsystemscanbemodeledasafirst-ordersystemwithadelayoftheformG(s)=ke−sL1+Ts,whoseparameterscanbeidentifiedbysimpleexperiments.Theproportional-integral-derivative(PID)controlsettingcanbedesignedaccordinglytoachievereasonableperformance[1].Thisidea,whichwasrathercontroversialatthattime[2],hassincebeensupportedbyindustrialpracticeandisnowwidelyacceptedandtaughtinintroductorycontrolclasses.Inspiteoftremendousprogressinmoremoderncontrolarchitect