The characteristics and performance of an autotuning proportional integral derivative (PID) controller developed by us have been investigated. T h e parameters for this controller, proportional gain, K , the integral time constant, Ti, and the derivative time constant, Td, are on-line-tuned by using heuristic rules, requiring no a priori tuning. The controller showed a stable and robust performance, even when only K was online-tuned. However, the dynamic (or time delay) of the membrane-type dissolved oxygen (DO) probe caused oscillations in the DO concentration unless it was properly compensated. This required a prediction method. When all three controller parameters were on-line-adjusted, the DO probe dynamic could be effectively overcome with no separate prediction step.
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