A novel tuning method of differential forward robust PID controller for integrating systems plus time delay based on direct synthesis method

ABSTRACT

In this paper, a novel tuning rule of differential forward proportional–integral–derivative (PID) controller for integrating systems with time delay is proposed by using the direct synthesis method. This method is based on comparing the characteristic equation of the system which consists of the differential forward PID controller adding a lead-lag filter and the integrating time-delay process with the desired characteristic equation. The desired characteristic equation is obtained by placing a plurality of poles at the same desired position. Parameters of the differential forward PID are tuned to achieve the desired robustness. Tuning rules are given in terms of plant parameters for various kinds of integrating systems. Compared with the conventional PID controller, the proposed method is more effective for frequently changed set-points. Simulations for various integrating processes as well as the non-linear jacketed CSTR system illustrate the applicability and effectiveness of the proposed method.

KEYWORDS:

• Differential forward PID controller
• integrating systems
• direct synthesis method

Acknowledgements

This paper is partly supported by the National Science Foundation of China (11502145, 61703277, 61673276, 61473183 and 61074087) and Shanghai Aerospace Science and Technology Innovation Foundation (SAST2018-022).

Disclosure statement

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

Additional information

Funding

This paper is partly supported by the National Science Foundation of China (11502145, 61703277, 61673276, 61473183 and 61074087).

Notes on contributors

Wei Zhang

Wei Zhang received the B.S. degree from the Department of Mathematics, Shaanxi Normal University, Xi’an, China, in 2003, the M.S. degree in operation research and cybernetics from Northwestern University, Shenyang, China in 2008, and the Ph.D. degree in control theory and engineering from Shanghai Jiao Tong University, Shanghai, China, in 2014. He is currently an Associate Professor in School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai, China. His research interests focus on robust control, optimal control, decoupling control, and their applications in industry.

Yue Cui

Yue Cui received the B.E. degree from the Department of Electrical Engineering and the Automation, University of Shanghai for Science and Technology, Shanghai, China, in 2017, the M.E. degree in Control Theory and Engineering, China in 2020. Her research interests focus on robust control, optimal control, and their applications in industry.

Xiangxin Ding

Xiangxin Ding received the B.S. degree from the Department of Automation, Nanjing Normal University, Nanjing, China, in 2019, entered the University of Shanghai for Science and Technology in 2019 as a postgraduate student. His research interests focus on robust observer design, optimal control, and their applications in industry.

Zhong Yin

Zhong YIN received his PhD in control science and engineering from the East China University of Science and Technology. He was a Lecturer at the School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, China, from 2015 to 2017. He has served as an Associate Professor at School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, China, since 2018. His research interests include intelligent human-machine systems, biomedical signal processing and pattern recognition.

Yagang Wang

Yagang Wang received his B.E. degree in electrical engineering from China University of Mining and Technology, China, in 1988, the M.E. degree in control theory and application from Taiyuan University of Technology, China, in 1991, and the Ph.D. degree in control theory and control engineering from Shanghai Jiao Tong University, China, in 2000. He worked as a Research Fellow in Nanyang Technological University, Singapore, from 2000 to 2002. He worked as Senior Engineer in Honeywell (China) Co., Ltd. from 2002 to 2007. He is currently a Professor in University of Shanghai for Science and Technology at Shanghai, China. His research interests include process automation, system identification, wireless sensor network.