Release Time:2019-03-10  Hits:

Indexed by: Conference Paper

Date of Publication: 2016-07-27

Included Journals: Scopus、CPCI-S、EI

Volume: 2016-August

Page Number: 5946-5951

Key Words: stable process; time delay; PID tuning; internal model control; discrete-time domain; robust stability

Abstract: In this paper, a discrete-time domain internal model control (IMC) based PID design method is proposed for industrial processes with time delay. An important merit is that the proposed PID controller is essentially tuned by a single adjustable parameter to achieve a good trade-off between the closed-loop control performance and its robustness against the process uncertainties. The ideally desired closed-loop controller is analytically derived in the discrete-time domain, based on the IMC theory. Subsequently, a PID controller is determined for implementation by using the mathematical Taylor series expansion to approximate the ideally desired closed-loop controller that has a complex form involved with time delay terms. Tuning constraints on the PID controller are analyzed for holding the closed-loop system robust stability. Illustrative examples from the literature are used to show the effectiveness and merit of the proposed control method.