PID Tuning: A Modern Approach via the Weighted Sensitivity Problem

Cover\nHalf Title\nTitle Page\nCopyright Page\nDedication\nContents\nForeword\nPreface\nAuthors\n1. Introduction\n	1.1 Servo, regulation, and stability\n	1.2 Industrial PID control\n	1.3 Internal model and H8 control\n		1.3.1 Internal model control\n		1.3.2 H8 control\n		1.3.3 Blending internal model and H8 control\n		1.3.4 Vilanova’s (2008) design for robust PID tuning revisited\n	1.4 Outline of the book\nPart I: Model-Matching Approach to Robust PID Design\n	2. Simple Model-Matching Approach to Robust PID Control\n		2.1 Problem statement\n			2.1.1 The control framework\n			2.1.2 The model-matching problem\n			2.1.3 The model-matching problem within H8 control\n		2.2 Analytical solution\n			2.2.1 Initial formulation for set-point response\n			2.2.2 Alternative formulation\n		2.3 Stability analysis\n			2.3.1 Nominal stability\n			2.3.2 Robust stability\n		2.4 Automatic PID tuning derivation\n			2.4.1 Control effort constraints\n		2.5 Simulation examples\n	3. Alternative Design for Load Disturbance Improvement\n		3.1 Problem statement\n			3.1.1 The control framework\n			3.1.2 The model-matching problem formulation\n		3.2 Model-matching solution for PID design\n		3.3 Trade-off tuning interval considering load disturbances\n			3.3.1 Nominal stability\n		3.4 Tuning guidelines\n		3.5 Simulation examples\n	4. Analysis of the Smooth/Tight–Servo/Regulation Tuning Approaches\n		4.1 Revisiting the model-matching designs\n		4.2 Smooth/tight tuning\n		4.3 Servo/regulation tuning\n		4.4 Implementation aspects\n		4.5 Simulation examples\n		4.6 Summary\nPart II: Weight Selection for Sensitivity Shaping\n	5. H8 Design with Application to PI Tuning\n		5.1 Problem statement\n		5.2 Analytical solution\n		5.3 Weight selection\n		5.4 Stability and robustness analysis\n		5.5 Application to PI tuning\n			5.5.1 Stable/unstable plants\n			5.5.2 Integrating plant case (t .8)\n		5.6 Simulation examples\n	6. Generalized IMC Design and H2 Approach\n		6.1 Motivation for the input/output disturbance trade-off\n		6.2 Problem statement\n		6.3 Weight selection\n		6.4 Analytical solution\n			6.4.1 Interpretation in terms of alternative IMC filters\n			6.4.2 Extension to plants with integrators or complex poles\n		6.5 Performance and robustness analysis\n		6.6 Tuning guidelines\n		6.7 Simulation examples\nPart III: Weighted Sensitivity Approach for Robust PID Tuning\n	7. PID Design as a Weighted Sensitivity Problem\n		7.1 Context, motivation, and objective\n		7.2 Servo/regulation and robustness/performance trade-offs\n		7.3 Unifying tuning rules\n		7.4 Special cases and tuning-rule simplifications\n			7.4.1 First-order cases (t2 =0)\n			7.4.2 Second-order cases\n		7.5 Applicability: normalized dead time range\n	8. PID Tuning Guidelines for Balanced Operation\n		8.1 Robustness and comparable servo/regulation designs\n		8.2 Servo/regulation performance evaluation: Jmax and Javg indices\n		8.3 PI control using first-order models\n			8.3.1 Stable and integrating cases\n				8.3.1.1 Tuning based on Jmax\n				8.3.1.2 Tuning based on Javg\n			8.3.2 Unstable case\n				8.3.2.1 Tuning based on Jmax and Javg\n		8.4 PID control using second-order models\n			8.4.1 Stable and integrating cases\n				8.4.1.1 Tuning based on Jmax\n				8.4.1.2 Tuning based on Javg\n			8.4.2 Unstable case\n				8.4.2.1 Tuning based on Jmax and Javg\nAppendix A\nBibliography\nIndex