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A Frequency Response Model Matching Method

for PI-PD Controller Design for Processes


Neelam Meghwal*, Devshri Shakyawar and P.K Padhy, Member, IEEE

Abstract- In this paper a method for designing a PI and a PD Md Nishant et al. [1] has proposed a frequency response
controller using frequency response matching has been presented. model matching method for PID controller design for processes
In the following approach, a double feedback loop configuration with dead-time using a double feedback loop for one PID
has been considered with a gain in the inner loop to stabilize it. In controller. Ali et al. [2] have presented a designing method
the inner loop a PD controller has been taken whereas in the outer based on minimization of Integral Square Error (ISE)
loop a PI controller is considered. The parameters of both the PI performance criteria by using a Nyquist curve at the gain
and PD controller are found out by frequency response matching
between the closed loop system with a PD and PI controller and a
crossover frequency. Skogestad [3] has proposed a simple
reference model taken with desired specifications. In this approach, analytic tuning rule for model detection and a PID tuning rule
two low frequency points are considered for matching the (SIMC) based on the IMC principle. Chidambaram et al. [4]
frequency response which gives linear algebraic equations which have presented an analytical tuning method which is based on
are solved to find the controller parameters. Some examples are finding the parameters of overall transfer function to obtain the
taken from other research papers and the method is compared with desired set point response. The method of Luyben [5] use the
other well-known methods. frequency response information in tuning the PID controller.
Shamsuzzoha et al. [6]-[7] have modeled the integrating
Index Terms- Double feedback loop, Frequency response, Gain, processes as stable processes with considerably very large time
Load disturbance response, PID controller, Reference model, Set- constants and applied the IMC principle to design PID
point response.
controllers with improved load disturbance rejection. Many
tuning methods for PID controller are given in [8]. A direct
synthesis design for PID controller is given in [9]. PI/PID
I. INTRODUCTION controller tuning method using maximum response specification
A proportional-integral-derivative controller (PID) is a is proposed in [10]. An error minimization criteria using the
control loop feedback mechanism (controller) widely used in genetic algorithm design method has been proposed in [11]. A
industrial control systems. A PID controller calculates an error frequency response matching of the desired and actual closed
value as the difference between a measured process variable and loop responses at two specified frequency points have been
a desired set point. A PID controller is simple to understand and proposed in [12]. Vijayan et al. [13] have designed the PID
can be used in control processes of different fields and areas. A controller for two order processes in double feedback loops to
PD controller is a combination of proportional and derivative achieve stability and improve performance using the Z-N tuning
controllers. Due to the derivative action, it reduces the rise time rule. These methods do not always provide satisfactory
of the system and improves the transient response. It is used controllers for various processes.
when we need to increase the stability of the system. A PI In this paper, PI and PD controllers are designed by
controller is a combination of proportional and integral matching the control loop system for actual and desired output
controllers. It increases the type of the system by one which at low frequency points. In this approach two loops are
results in the reduction of steady state error, elimination of considered. Inner loop has a PD controller with a stabilizing
forced oscillations and steady state response is improved. It is gain. And the outer loop consists of a PI controller. The
used when large transport delays, noise and large disturbances parameters of the PI and PD controller are found out by
are present. comparing the actual and reference model at low frequency
points. The method gives linear algebraic equations, solution of
which gives the controller parameters. The method is compared
Neelam Meghwal is with the Department of Electronics and Communication with different examples from different research papers to show
Engineering, PDPM Indian Institute of Information Technology, Design and the effectiveness.
Manufacturing, Jabalpur-482005, India (e-mail: neelammeghwal@iiitdmj.ac.in). In section II the proposed design method is presented in
Devshri Shakyawar and P K Padhy are with the Department of Electronics detail. In section III, the method is demonstrated through an
and Communication Engineering, PDPM Indian Institute of Information
Technology, Design and Manufacturing, Jabalpur-482005, India (e-mail: example. Conclusion is shown in section IV.
devshrishakyawar@iiitdmj.ac.in, prabin16@iiitdmj.ac.in ).
ISBN_number#©2014 IEEE
II. THE DESIGN METHOD
An integrating process is considered as shoown in Fig. 1 with , | , | (7)
the following transfer function.

where , | , | . (8)
(1)

The L.H.S. expression of (7) iss equivalent to its R.H.S.


where, / is a rational transfer funcction and l is the expression in terms of frequency
y response. The following
time delay of the system. The zeroes arre all in the L.H.S expression is derived as
of the s-plane. The equations of the PI-PD conntrollers are given
as
| | (9)
,

(2)
(3) By substituting (1) and (8) in (9), th
he following expression has
been derived.
respectively, where , , and are the proportional
constant of PI controller, proportional constantt of PD controller, | (10)
the integral constant of PI controller and the derivative constant
of PD controller respectively that are to be deteermined. In Fig. 1 Equation (10) can be written as,
r is the input, y is the process output, e is the error, u is the PI
controller output, x is the excitation to the proocess and d is the (11)
disturbance.
where
,

and , are the real and


a , are the
imaginary functions of respectively. Separating the real and
the imaginary parts, (11) may be wriitten as

Fig. 1. Control system configuration with double ffeedback loops and . (12)

The transfer function of Fig. 1 from u to y andd r to y are given If the functions are directly matched at
by around 0, then the real and imaginary part of the
derivative of are equal to
o real and imaginary part of
, (4) the derivative of respecctively. For two frequency
points the following expression is obtained as
where
,
, . (5)
,
1 0 0
The first step of the design process is to choose a suitable 0 0
, 0 . (13)
reference model which includees the desired 1 0 0
,
specification of the overall control system ffrom r to y. The 0 0
reference model is constructed as
From (13), it follows

, (6)
, , ,
where / is in the form of a ratioonal polynomial.
It is observed that and .
For finding the parameters of the controller , ,
has been compared with the reference model , .
For achieving the parameters of the controller , the IV. SIMULATION RESULTS
frequency responses of , and , are matched and can Simulations are run for various examples of the processes
be written as taken from references [1]-[5], [7], [14]. Set-point responses are
shown for unit step input. Load disturbance responses are shown
,
, | , | (14) for unit step input disturbance after the response reaches the
,
steady state. Controller responses are shown for similar
conditions.
The equation (14) may be written as The performance parameters settling time ( ), peak overshoot,
rise time ( ) and steady state error are compared with other
,
| | (15) methods.
, ,
A. Example 1
Substituting (3) in (4), the expression of , is obtained. An integrating second order plus dead time process is taken
Further substituting it to (15) from [2]

| . (16)

Following the method from (11) to (12), (16) may be written as The gain K is taken as 0.10 and for the design of the PI-PD
controllers the reference model , is chosen from [1]
and . (17)

Similarly the matrix is obtained as follows. ,

1 0 0 The frequency points are chosen as 0.01 and


0 1⁄ 0
, (18) 0.02 and the proposed design method yields the PI-
1 0 0
1⁄ 0 PD controllers as
0 0
.
From (18), it follows 0.334 ,
1.08 4.002 .
, ,
, .
B. Example 2
It is observed that and . An integrating second order plus dead time process is
For obtaining the desired output, above stated method can be considered from [2]
used and the parameters of PI and PD controllers can be
determined. .

III. SELECTION OF FREQUENCY POINTS


For the design of the PI-PD controllers the gain K is taken as
For industrial processes low frequency region is more 1.50 and the reference model , is chosen from [1]
important and frequency response matching as 0 ensures
the desired steady state response. As per equations (12) and (17)
the frequency points for matching are required to be small. ,
Hence low frequency values have been taken. Here, the small
values of frequency points are chosen with respect to the The frequency points are chosen as 0.01 and
bandwidth frequency of the desired reference model. In general,
the frequency point in the range of 0.1-10% of the bandwidth 0.02 and the proposed design method yields the PI-PD
frequency has been observed to give good results for most of the controllers as
processes [1].
.
0.5 ,
1.0005 1.176 .
Fig. 2. Process output for example 1 (set point response). Fig. 3. Process output for example 1(load disturbance response).

TABLE I
PERFORMANCE COMPARISON FOR EXAMPLE 1
Rise Time Settling Peak Steady
Method
( ) Time ( ) Overshoot state error
Proposed 1.08 4.002 0.334 0.166 28.7605 56.1227 0 0.03130
Anwar et al. [1] (Double loop) - 3.037 0.6661 0.1666 26.3952 74.8270 4.7649 0.1008
Ali et al. [2] (single loop) - 0.53 0.19 0.0084 18.4354 208.5058 3.6272 0.0034
SIMC [3] (single loop) - 0.126 0.13 0.0039 41.0146 418.0234 37.0327 0.0042

TABLE II
PERFORMANCE COMPARISON FOR EXAMPLE 2
Rise Settling Peak Steady
Method
Time ( ) Time ( ) Overshoot state error
Proposed 1.0005 1.176 0.5 0.083 28.8101 41.8737 1.6416 0.0023
Anwar et al. [1] (Double loop) - 2.33 0.7231 0.0833 35.9878 101.6719 4.9748 0.0014
Ali et al [2] (single loop) - 9.96 3.39 0.17 24.5975 237.8000 3.1072 0.0082
Chidambaram et al [4] (single
- 10.97 4.06 0.15 16.3846 168.7479 3.5551 0.0118
loop)

C. Example 3 .
2.47 ,
An integrating second order plus dead time (ISOPDT) 0.54 0.25 .
process with non-minimum phase zero is taken from [6]
C. Example 4
. . .
To check the effectiveness of the proposed method, an
.
unstable system has been considered from [14].
For the design of the PI-PD controllers the gain K is taken as .
0.50 and the reference model , is chosen from [1] .

. .
, . For the design of the PI-PD controllers the reference model
.
, can be chosen as

The frequency points are chosen as 0.01 and .


, .
0.02 and the proposed design method yields the PI-PD
controllers as
Fig. 4. Process output for example 2 (set point response). Fig. 5. Process output for example 2 (load disturbance response).

Fig. 6. Process output for example 3 (set point response). Fig. 7. Process output for example 3 (load disturbance response).

TABLE III
PERFORMANCE COMPARISON FOR EXAMPLE 3
Peak Steady
Method Rise Time ( ) Settling Time ( ) Overshoot state error
Proposed 0.54 0.25 2.47 0.491 4.2101 11.6007 5.2336 0.025
Anwar et al.[1] (Double
- 3.996 3.128 0.9823 12.8723 40.4890 8.3507 0.020
loop)
Shamsuzzoha et al. [7]
- 1.786 2.43 0.667 2.2188 47.2000 4.1063 0.0060
(single loop)
Luyben [5](single loop) - 1.8515 1.61 0.28 19.4714 33.6788 0.8236 0.0077

The frequency points are chosen as 0.01 and 0.000297 1.485 .


0.02 and the proposed design method yields the PI-PD The controller parameters from Kaya et al [14] are
controllers as 0.565, 2.32, 0, 2.825. Simulation results are
compared with example of Kaya et al. [14] and shown in Fig.
.
1.112 , 10.
Fig. 8. PD controller output response for examples. Fig. 9. PI controller output response for examples.

VI. REFERENCES
[1] M. Anwar and S. Pan, 'A frequency response model matching method for
PID controller design for processes with dead-time', ISA Transactions,
vol. 55, pp. 175-187, 2015.
[2] A. Ali and S. Majhi, 'PID controller tuning for integrating processes', ISA
Transactions, vol. 49, no. 1, pp. 70-78, 2010.
[3] S. Skogestad, 'Simple analytic rules for model reduction and PID
controller tuning', Journal of Process Control, vol. 7, no. 4, pp. 291-309,
2003.
[4] M. Chidambaram and R. Padma Sree, 'A simple method of tuning PID
controllers for integrator/dead-time processes', Computers & Chemical
Engineering, vol. 27, no. 2, pp. 211-215, 2003.
[5] W. Luyben, 'Tuning Proportional−Integral−Derivative Controllers for
Integrator/Deadtime Processes', Industrial & Engineering Chemistry
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[6] M. Shamsuzzoha and M. Lee, 'IMC−PID Controller Design for Improved
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[7] M. Shamsuzzoha and M. Lee, 'Design of advanced PID controller for
V. CONCLUSION enhanced disturbance rejection of second-order processes with time
delay', AIChE Journal, vol. 54, no. 6, pp. 1526-1536, 2008.
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integrating processes with time delay. The proposed approach Research Triangle Park, 1995.
[9] D. Chen and D. Seborg, 'PI/PID Controller Design Based on Direct
has been compared with earlier proposed designs with the help Synthesis and Disturbance Rejection', Industrial & Engineering
of examples and its simulation results. A double feedback loop Chemistry Research, vol. 41, no. 19, pp. 4807-4822, 2002.
is considered in which in the inner loop a PD controller with a [10] É. Poulin and A. Pomerleau, 'PID tuning for integrating and unstable
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no. 5, pp. 429-435, 1996.
been taken. The control system transfer function is compared [11] A. Visioli, 'Optimal tuning of PID controllers for integral and unstable
with a reference model and the parameters are obtained. It can processes', IEE Proceedings - Control Theory and Applications, vol. 148,
be seen from the output response that the PI-PD controllers no. 2, pp. 180-184, 2001.
designed are more stable than the earlier proposed designs. The [12] L. Wang and W. Cluett, 'Tuning PID controllers for integrating
processes', IEE Proceedings - Control Theory and Applications, vol. 144,
stability of the process increases by using two different no. 5, pp. 385-392, 1997.
controllers and a double feedback loop system with a stabilizing [13] V. Vijayan and R. Panda, 'Design of PID controllers in double feedback
gain K. loops for SISO systems with set-point filters', ISA Transactions, vol. 51,
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[14] I. Kaya, N. Tan and D. Atherton, 'A simple procedure for improving
as well as higher order systems. performance of PID controllers', Proceedings of 2003 IEEE Conference
on Control Applications, 2003. CCA 2003., 2003.

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