PID control system design and automatic tuning using MATLAB/Simulink. (2020)

• Record Type: Book
• Further Information: Note: Liuping Wang.
• Authors: Wang, Liuping
• Contents: 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–Zero Cancellation in the Design of a Resonant Controller 99 3.4.4 Food for Thought 101 3.5 Feedforward Control 102 3.5.1 Basic Ideas about Feedforward Control 102 3.5.2 Three Springs and Double Mass System 103 3.5.3 Food for Thought 108 3.6 Summary 108 3.7 Further Reading 108 Problems 109 4 Implementation of PID Controllers 113 4.1 Introduction 113 4.2 Scenario of a PID Controller at work 113 4.3 PID Controller Implementation using the Position Form 114 4.3.1 The Steady-state Information Needed 114 4.3.2 Discretization of a PID Controller 115 4.3.3 Food for Thought 116 4.4 PID Controller Implementation using the Velocity Form 117 4.4.1 Discretization of a PI Controller 117 4.4.2 Discretization of a PID Controller using the Velocity Form 119 4.4.3 Improving Accuracy in a Slower Sampling Environment 120 4.4.4 Food for Thought 122 4.5 Anti-windup Implementation using the Position Form 122 4.5.1 Integrator Windup Scenario 122 4.5.2 Anti-windup Mechanisms in the Position Form of PI Controllers 124 4.5.3 Food for Thought 125 4.6 Anti-windup Mechanisms in the Velocity Form 126 4.6.1 Anti-windup Mechanism on the Amplitude of the Control Signal 126 4.6.2 Limits on the Rate of Change of the Control Signal 129 4.6.3 Food for Thought 129 4.7 Tutorial on PID Anti-windup Implementation 130 4.8 Dealing with Other Implementation Issues 133 4.8.1 Plant Start-up 134 4.8.2 Dealing with Quantization Errors in PID Controller Implementation 135 4.9 Summary 136 4.10 Further Reading 137 Problems 137 5 Disturbance Observer- Based PID and Resonant Controller 139 5.1 Introduction 139 5.2 Disturbance observer-Based PI Controller 139 5.2.1 Estimation of Disturbance with Control 139 5.2.1.1 Choice of Proportional Controller K 1 140 5.2.1.2 Compensation of Steady-state Error 140 5.2.1.3 The closed-loop poles 141 5.2.1.4 Implementation procedure 142 5.2.2 Equivalence to PI controller 143 5.2.3 MATLAB Tutorial for Implementation of a PI Controller via Estimation 144 5.2.4 Examples for Estimator based PI Controllers 145 5.2.5 Food for Thought 148 5.3 Disturbance observer-Based PID Controller 149 5.3.1 Proportional Plus Derivative Control 149 5.3.2 Adding Integral Action 150 5.3.3 Equivalence to a PID Controller 151 5.3.4 MATLAB Tutorial on the Implementation of a disturbance observer-based PID Controller 153 5.3.5 Examples for Disturbance observer-based PID Controller 155 5.3.6 Food for Thought 156 5.4 Disturbance observer-Based Resonant Controller 156 5.4.1 Resonant Controller Design 156 5.4.2 Resonant Controller Implementation 158 5.4.3 Equivalence to a Resonant Controller 159 5.4.4 MATLAB Tutorial on Disturbance observer-Based Resonant Controller Implementation 160 5.4.5 Examples for Disturbance observer-Based Resonant Controllers 162 5.4.6 Food for Thought 167 5.5 Multi-frequency Resonant Controller 167 5.5.1 Adding Integral Action to the Resonant Controller 168 5.5.2 Adding More Periodic Components 170 5.5.3 Food for Thought 171 5.6 Summary 172 5.7 Further Reading 172 Problems 173 6 PID Control of Nonlinear Systems 179 6.1 Introduction 179 6.2 Linearization of the Nonlinear Model 179 6.2.1 Approximation of a Nonlinear Function 179 6.2.2 Linearization of nonlinear differential equations 181 6.2.3 Case Study: Linearization of the Coupled Tank Model 181 6.2.4 Case Study: Linearization of the Induction Motor Model 184 6.2.5 Food for Thought 186 6.3 Case Study: Ball and Plate Balancing System 187 6.3.1 Dynamics of the Ball and Plate Balancing System 187 6
• Publisher Details: Hoboken, NJ : Wiley-IEEE Press
• Publication Date: 2020
• Extent: 1 online resource
• Subjects: 629.8; PID controllers -- Design and construction; Electronic books
• Languages: English
• ISBNs: 9781119469407; 1119469406; 9781119469414; 1119469414
• Related ISBNs: 1119469341; 9781119469346
• Notes: Note: Includes bibliographical references and index.; Note: Description based on online resource; title from digital title page (viewed on March 05, 2020).
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