Brief Relay auto-tuning of PID controllers using iterative feedback tuning

Authors:
W. K. Ho;Y. Hong;A. Hansson;H. Hjalmarsson;J. W. Deng
Affiliations:
Department of Electrical and Computer Engineering, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260, Singapore;Department of Electrical and Computer Engineering, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260, Singapore;Information Systems Laboratory, Department of Electrical Engineering, Stanford University, 350 Serra Mall, Packard 276, Stanford, CA 94305-9510, USA;Department of Signals, Sensors and Systems, The Royal Institute of Technology, S-100 44 Stockholm, Sweden;Department of Electrical and Computer Engineering, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260, Singapore
Venue:
Automatica (Journal of IFAC)
Year:
2003

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Abstract

In this paper, ideas from iterative feedback tuning (IFT) are incorporated into relay auto-tuning of the proportional-plus-integral-plus-derivative (PID) controller. The PID controller is auto-tuned to give specified phase margin and bandwidth. Good tuning performance according to the specified bandwidth and phase margin can be obtained and the limitation of the standard relay auto-tuning technique using a version of Ziegler-Nichols formula can be eliminated. Furthermore, by using common modelling assumptions for the relay system, some of the required derivatives in the IFT algorithm can be derived analytically. The algorithm was tested in the laboratory on a coupled tank and good tuning result was demonstrated.