Department of Chemical Engineering, National Institute of Technology, Tiruchirappalli, 620 015, Tamilnadu, India.
Department of Chemical Engineering, National Institute of Technology, Warangal, 506 004, Telangana State, India.
ISA Trans. 2018 Feb;73:181-188. doi: 10.1016/j.isatra.2017.12.025. Epub 2018 Jan 4.
An optimal H minimization framework is proposed in this paper for devising a controller of PID in nature, based on a refined IMC filter configuration. The tuning strategy is for controlling time delay system with at least one pole which falls on the right half of the s-plane. An underdamped model based filter is used in place of the unity damping ratio (critically damped) filter available in the literature to improve the reset action. The method has a single adjustable closed loop tuning parameter. Guidelines have been provided for choosing the pertinent tuning parameter based on the sensitivity function. Simulation work has been executed on diverse unstable models to support the advantages of the proposed scheme. The proposed controller yields improved performances over other recently reported tuning techniques in the literature. Experimental implementation is carried out on an inverted pendulum for demonstrating the practical applicability of the present method. The efficacy of the intended controller design is quantitatively analyzed using the time integral performance index.
本文提出了一种优化的 H 最小化框架，用于设计基于改进的 IMC 滤波器结构的自然 PID 控制器。该调谐策略用于控制具有至少一个极点位于 s 平面右半部分的时滞系统。使用基于欠阻尼模型的滤波器代替文献中可用的单位阻尼比（临界阻尼）滤波器，以改善重置动作。该方法具有一个可调节的闭环调谐参数。根据灵敏度函数，提供了选择相关调谐参数的准则。在不同的不稳定模型上进行了仿真工作，以支持所提出方案的优势。与文献中最近报道的其他调谐技术相比，所提出的控制器具有更好的性能。通过时间积分性能指标对所设计的控制器进行了定量分析。
