Titlebook: Autotuning of PID Controllers; Relay Feedback Appro Cheng-Ching Yu Book 19991st edition Springer-Verlag London 1999 MATLAB.control.control

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Introduction,k leads to PID controllers for virtually all models common in industrial practice (Morari and Zafiriou, 1989). Note that this includes systems with inverse responses and integrating (unstable) processes.

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Controller Monitoring, control systems, this means we are not able to assess the robustness (or performance) of a control system until a disturbance comes into the system. A better measure should be able to tell the robustness of a closed-loop system before the disturbance comes into the system (or significant deviations in the controlled variable are observed).

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Introduction,n (P mode) adjusts controller output according to the size of the error. The integral action (I mode) can eliminate the steady-state offset and the future trend is anticipated via the derivative action (D mode). These useful functions are sufficient for a large number of process applications and the

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Relay Feedback,technique. It is very effective in determining the ultimate gain and ultimate frequency. Luyben (1987) popularizes the relay feedback method and calls this method “ATV” (autotune variation). The acronym also stands for . since ATV provides a useful tool for the rough and rocky road of system identif

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Systems with Unstable Zeros or Poles,uyben (1990) show that a relay feedback test cannot generate sustained oscillation on a . — . (distillate-boilup ratio) controlled .. splitter. Another example is that the relay feedback test fails to generate a stable limit cycle for the incorrectly paired WB (Wood and Berry, 1973) column. Obviousl