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Optimal tuning rules for proportional-integral-derivative and fractional-order proportional-integral-derivative controllers for integral and unstable processes

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2 Author(s)
Padula, F. ; Dipt. di Ing. dell'Inf., Univ. of Brescia-Italy, Brescia, Italy ; Visioli, A.

A set of tuning rules for standard (integer-order) proportional-integral-derivative (PID) and fractional-order PID controllers for integral and unstable processes is presented in this study. Based on a simple model of the process, the tuning rules have been devised in order to minimise the integrated absolute error. Both set-point tracking and load disturbance rejection tasks are considered. The achieved performance indexes can also be used for the assessment of the controller performance. A remarkable feature of the optimisation procedure employed for integral processes is highlighted. The provided results allow the user to quantify, for a given process, the performance improvement that can be obtained by using the fractional controller instead of the integer one.

Published in:

Control Theory & Applications, IET  (Volume:6 ,  Issue: 6 )