Control of high-order processes: near-optimal robust tuning of PID regulators for repeated-pole plus dead-time models

Abstract

This paper aims to present an analysis of the performance and robustness characteristics of repeated-pole plus dead-time (RPPDT) model PID (Proportional Integral Derivative) regulatory control system. Their performances are evaluated with the integrated absolute error index (IAE) and their robustnesses with the maximum sensitivity ($M_S$). Normalised controlled process models and controllers are used for control system design. Optimal – robustness free – and optimal robust PID regulators parameters are found. A Near-Optimal Robust tuning rule (NORpid) for PID controllers based on high-order RPPDT models is obtained and applied to the control system of an eighth-order process. Examples include the control of the superheated steam temperature system (SHSTS) of a 500-MW boiler.

Keywords:

• PID controllers
• regulatory control
• high-order repeated-pole models
• optimal IAE performance
• robust tuning

Disclosure statement

No potential conflict of interest was reported by the author(s).

Notes

1 https://github.com/JuliaNLSolvers/Optim.jl/

2 https://github.com/JuliaOpt/NLopt.jl

3 https://github.com/JuliaNLSolvers/LsqFit.jl

Additional information

Funding

This research was supported by the Catalan Government under Project 2017 SGR 1202 and funded by the Spanish Government through the MICINN project (PID2019-105434RB-C33).