Abstract
PD-I CONTROLLER TUNING AND ROBUSTNESS WHEN USED TO CONTROL A THIRD ORDER PROCESS
Galal Ali Hassaan* and Mohamed Ramadan Mohamed
ABSTRACT
Processes with high oscillations are not desirable in modern industrial applications. Tuning of controller parameters overcomes this problem. PD-I controller is one of PID controllers within the second generation family. The paper studies the tuning of the PD-I controller to contribute in solving the problem of controlling a highly oscillated third order process. The minimization of error performance indices such as: ITAE, ISE, IAE, ITSE, and ISTSE of the closed loop control system is investigated for the purpose of controller tuning through using the MATLAB optimization toolbox. Some of the control system time based characteristics are used to judge the performance of the control system specifically maximum percentage overshoot and settling time. The proposed tuning technique results are compared with a tuning technique based on the minimum ITAE standard form. The robustness of the PD-I controller is investigated when it is used to control a highly oscillated third order process under process parameters uncertainty within a range of within ? 20 % of its nominal values.
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