MODEL-BASED TUNING RELATIONS FOR PI AND PID CONTROLLERS

A new set of model-based tuning relations for PI and PID controllers i s developed in this contribution These expressions relate the controll er proportional gain, integral time and derivative time to the paramet ers of a second or first order plus time delay model of the plant. A s imulation study is conducted to illustrate the benefits of the new met hod. A comparison with two existing popular controller tuning techniqu es has shown that, generally, the proposed method leads to a better cl osed loop performance. One major advantage of the new method is that, irrespective of the values of the plant parameters, it leads to almost a standard closed-loop response to a step change in the setpoint. Thi s response is an underdamped trajectory with an overshoot in the vicin ity of 5%.