Advanced Tuning for Ziegler-Nichols Plants

Díaz-Rodríguez, Iván D.; Han, Sangjin; Keel, L.H.; Bhattacharyya, S.P.

doi:10.1016/j.ifacol.2017.08.168

Cited by 13 publications

(4 citation statements)

References 8 publications

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“…One can find recent literature in which new tuning methods, developed by Waller and Nygardas (WN) [13] and Chien, Chung, Chen, and Chuang (CCCC) [17] for inverse response systems, are compared to traditional methods; see for instance [60,61]. Additionally, one can find several works that compare the performance with one of the most traditional tuning methods developed by Ziegler and Nichols (ZN) [14] during the 1940s, see for instance [62][63][64] where %TO: percentage of transmitter output, %CO: percentage of controller output, UT: units of time. A central composite experimental design, as explained in the scaling section, was implemented in order to select a set of parameters of the process' transfer function to test the performance and robustness of the closed-loop, for each controller, over a wide range of values.…”

Section: Discussion On Performance Analysismentioning

confidence: 99%

PID Tuning Method Based on IMC for Inverse-Response Second-Order Plus Dead Time Processes

et al. 2020

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This work addresses a set of tuning rules for PID controllers based on Internal Model Control (IMC) for inverse-response second-order systems with dead time. The transfer function, and some time-response characteristics for such systems are first described. Then, the IMC-based methodology is developed by using an optimization objective function that mixes performance and robustness. A correlation that minimizes the objective function and that allows the user to compute the controller’s tuning parameter is found. The obtained expressions are mathematically simple, which facilitate their application in a ten-step systematic methodology. Finally, the proposed tuning method is compared to other well-known tuning rules that have been reported in literature, for a wide range of parameters of the process. The performance achieved with the proposed method is very good not only for disturbance rejection but for set-point tracking, when considering a wide-range of parameters of the process’ transfer function.

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Section: Discussion On Performance Analysismentioning

confidence: 99%

PID Tuning Method Based on IMC for Inverse-Response Second-Order Plus Dead Time Processes

et al. 2020

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“…The PID controller is tuned using an algorithm by a combination of the Z-N method and APSO. The PID parameters are obtained from Z-N, which is the classical observation method of tuning [31]. The output is set as the initial value, which provides the searching space to avoid local optima [32].…”

Section: Optimization Of the Controller's Gainsmentioning

confidence: 99%

Adaptive Particle Swarm Optimization of PID Gain Tuning for Lower-Limb Human Exoskeleton in Virtual Environment

et al. 2020

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Tuning of a proportional-integral-derivative (PID) controller for a complex multi-joint structure, such as an exoskeleton, using conventional methods is difficult and imprecise. In this paper, an optimal PID tuning method for a 3-dimensional model of a lower-limb human exoskeleton in gait training condition is presented. The dynamic equation of the human-exoskeleton is determined using a Lagrangian approach, and its transfer function is established in a closed-loop control system. PID controller gains, initialized by the Ziegler–Nichols (Z-N) method, are used as the input to an adaptive particle swarm optimization (APSO) algorithm for minimizing the multi-joint trajectory error. The optimized controller is tested in the Gazebo virtual environment and compared with the Z-N and conventional optimization methods. The numerical analysis shows that the PID controller tuned by a combination of Z-N and APSO improves the performance of a lower-limb human exoskeleton in gait training.

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“…Therefore, they must be optimally tuned to obtain an acceptable closed loop system response. Conventional tuning methods such as Ziegler-Nichols [11], [12], Yuwana-Seborg [13], and Cohen-Coon [14] have already been used by most of the researchers for many years. However, they have some drawbacks, such as requiring numerical computations and more time to carry out trial and * Corresponding author/Yazışılan Yazar error procedures while finding the optimized PID parameters [15].…”

Section: Introductionmentioning

confidence: 99%

Analysis of multivariable objective functions for the PID controller tuned by a radial movement optimization

SAMUK¹,

Cakir²

2023

Pamukkale J Eng Sci

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In this study, a second order plus dead time (SOPDT) test system was designed in MATLAB/Simulink platform to analyze the performance of multivariable objective functions (MOFs). These functions consisted of classical error-based objective functions (CEBOFs): integral of timeweighted absolute error, integral of squared error, integral of absolute error, integral of time-weighted squared error, and transient state parameters: maximum percentage overshoot and settling time which has 𝑤 1 and 𝑤 2 coefficients, respectively. A proportional integral derivative (PID) controller was employed to control the SOPDT system. In the optimization process, the radial movement optimization (RMO) algorithm was used to tune PID controller parameters. To demonstrate the performance of MOFs, numerical and graphical results were presented in the study, where settling time, maximum percentage overshoot, rise time, peak time and steady state error were given. The obtained results clearly showed that MOFs had a better performance than all CEBOFs in settling time and overshoot value. RMO algorithm also had a robust convergence rate and speed, proving the best optimal solution for all MOFs in the first seven iterations. Bu çalışmada, çok değişkenli amaç fonksiyonlarının (ÇDAF) performans analizi için MATLAB/Simulink ortamında ikinci dereceden zaman gecikmeli bir test sistemi oluşturulmuştur. Analiz edilen amaç fonksiyonları, zaman ağırlıklı mutlak hatanın integrali, hatanın karesinin integrali, mutlak hatanın integrali ve zaman ağırlıklı hatanın karesinin integrali gibi klasik hata tabanlı amaç fonksiyonlarının (KHTAF), geçici durum parametreleri yüzde aşma ve yerleşme zamanıile toplamından elde edilmiştir. Fonksiyonlarda yüzde aşma ve yerleşme zamanı sırasıyla 𝑤 1 ve 𝑤 2 katsayıları ile ağırlıklandırılmıştır. Sistemin kontrolü oransal integral türev (OİT) denetleyici ile yapılmıştır. OİT denetleyicinin parametreleri radyal hareket optimizasyonu (RHO) kullanılarak ayarlanmıştır. Çalışmada ÇDAF'lerin performansını göstermek için yerleşme süresi, maksimum yüzde aşma, yükselme süresi, tepe süresi ve kalıcı durum hatası bilgileri sayısal ve görsel olarak sunulmuştur. Elde edilen sonuçlar ÇDAF'lerin yerleşme süresi ve aşma değeri bakımından KHTAF'lere göre daha iyi performansa sahip olduğunu açıkça göstermektedir. Aynı zamanda RHO algoritması ilk yedi yinelemede optimal çözüme ulaşarak sağlam yakınsama oranı ve hızına sahip olduğunu kanıtlamıştır.

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Advanced Tuning for Ziegler-Nichols Plants

Cited by 13 publications

References 8 publications

PID Tuning Method Based on IMC for Inverse-Response Second-Order Plus Dead Time Processes

PID Tuning Method Based on IMC for Inverse-Response Second-Order Plus Dead Time Processes

Adaptive Particle Swarm Optimization of PID Gain Tuning for Lower-Limb Human Exoskeleton in Virtual Environment

Analysis of multivariable objective functions for the PID controller tuned by a radial movement optimization

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