Process Identification and PID Control

PROCESS IDENTIFICATION AND PID CONTROL......Page 1
Contents......Page 9
Preface......Page 13
Part One: Basics of Process Dynamics......Page 15
1.1 Introduction to Process Control and Identification......Page 17
1.2 Properties of Linear Processes......Page 23
1.3 Laplace Transform......Page 30
1.4 Transfer Function and State-Space Systems......Page 46
Problems......Page 52
2.1 Simulating Processes Composed of Differential Equations......Page 59
2.2 Simulating Processes Including Time Delay......Page 64
2.3 Simulating Closed-Loop Control Systems......Page 71
2.4 Useful Numerical Analysis Methods......Page 73
Problems......Page 88
3.1 Low-Order Plus Time-Delay Processes......Page 93
3.2 Process Reaction Curve Method......Page 98
3.3 Poles and Zeroes......Page 100
3.4 Block Diagram......Page 106
3.5 Frequency Responses......Page 108
Problems......Page 117
Part Two: Process Control......Page 123
4.1 Structure of Proportional–Integral–Derivative Controllers and Implementation in Computers/Microprocessors......Page 125
4.2 Roles of Three Parts of Proportional–Integral–Derivative Controllers......Page 136
4.3 Integral Windup......Page 143
4.4 Commercial Proportional–Integral–Derivative Controllers......Page 149
Problems......Page 161
5.1 Trial-and-Error Tuning......Page 165
5.2 Simple Process Identification Methods......Page 168
5.3 Ziegler–Nichols Tuning Rule......Page 171
5.4 Internal Model Control Tuning Rule......Page 173
5.5 Integral of the Time-Weighted Absolute Value of the Error Tuning Rule for a First-Order Plus Time-Delay Model (ITAE-1)......Page 175
5.6 Integral of the Time-Weighted Absolute Value of the Error Tuning Rule for a Second-Order Plus Time-Delay Model (ITAE-2)......Page 180
5.7 Optimal Gain Margin Tuning Rule for an Unstable Second-Order Plus Time-Delay Model (OGM-unstable)......Page 183
5.8 Model Reduction Method for Proportional–Integral–Derivative Controller Tuning......Page 184
5.10 Concluding Remarks......Page 210
Problems......Page 211
6.1 Closed-Loop Transfer Function and Characteristic Equation......Page 215
6.2 Bode Stability Criterion......Page 217
6.3 Nyquist Stability Criterion......Page 221
6.4 Gain Margin and Phase Margin......Page 224
Problems......Page 226
7.1 Cascade Control......Page 229
7.2 Time-Delay Compensators......Page 231
7.3 Gain Scheduling......Page 239
7.4 Proportional–Integral–Derivative Control using Internal Feedback Loop......Page 242
Problems......Page 245
Part Three: Process Identification......Page 247
8.1 Fourier Series......Page 249
8.2 Frequency Response Analysis and Autotuning......Page 254
8.3 Describing Function Analysis......Page 255
8.4 Fourier Analysis......Page 261
8.5 Modified Fourier Transform......Page 264
8.6 Frequency Response Analysis with Integrals......Page 275
Problems......Page 285
9.1 Identification Methods Using Integral Transforms......Page 289
9.2 Prediction Error Identification Method......Page 305
Problems......Page 329
10.1 Prediction Models: Autoregressive Exogenous Input Model and Output Error Model......Page 331
10.2 Prediction Error Identification Method for the Autoregressive Exogenous Input Model......Page 333
10.3 Prediction Error Identification Method for the Output Error Model......Page 339
10.4 Concluding Remarks......Page 349
Problems......Page 350
11.1 Transfer Function of Discrete-Time Processes......Page 351
11.2 Frequency Responses of Discrete-Time Processes and Model Conversion......Page 352
Problems......Page 356
Part Four: Process Activation......Page 357
12.1 Conventional Relay Feedback Methods......Page 359
12.2 Relay Feedback Method to Reject Static Disturbances......Page 366
12.3 Relay Feedback Method under Nonlinearity and Static Disturbances......Page 371
12.4 Relay Feedback Method for a Large Range of Operation......Page 379
Problems......Page 384
13.1 Process Activation Method Using Pulse Signals......Page 387
13.2 Process Activation Method Using Sine Signals......Page 401
Problems......Page 411
A.1 Setup of the Virtual Control System......Page 413
A.2 Examples......Page 414
Index......Page 423