Synthesis of PID Tuning Rule Using the Desired Closed-Loop

Dec 13, 2010 - Synthesis of PID Tuning Rule Using the Desired Closed-Loop Response. Rames C. Panda. Ind. Eng. Chem. Res. , 2011, 50 (2), pp 1158–115...
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Ind. Eng. Chem. Res. 2011, 50, 1158

Volume 47, Issue 22 Synthesis of PID Tuning Rule Using the Desired ClosedLoop Response. Rames C. Panda* With reference to our paper entitled “Synthesis of PID Tuning rule Using the Desired Closed-Loop Response” the author’s request following corrections: Table 1, row 4, the PID controller parameters for IPDT type of process

GP(s) )

KPe-Ds τPs(as + 1)

will be

KC )

τP KP(τP + a + 2λ + D)

τI ) (τP + a + 2λ + D) +

D2(2λ + D) +β (τP + a + 2λ + D)

τD ) (τP + a)(2λ + D) +

(C2C0 - 0.5C3) C22 β(C0 + C2 /C1) + 2 + C1 KPC1 C1 KC

where C0 ) τP + a + 2λ + D;

C1 ) λ2 + 2λ + 0.5D; C2 ) 2 3 D2 2λ + D ; C3 ) D3 2λ + D 3 4

(

)

(

)

But as τD involves higher orders of time-delay terms, it may give high values of derivative gains especially for large (D/τP) processes. Hence, judicially, τD is found by equating coefficients of s terms of GC(s) with the same of the right-hand side of φ(s) where

φ(s) ) GC(s) )

τP(2λ + D)s2 + (τP + 2λ + D)s + 1 KP(λ + D)2

and thereby

τD )

IE1023782 10.1021/ie1023782 Published on Web 12/13/2010

τP(2λ + D) KP(λ + D)2