Chapter 9 PID Controller Tuning • ※ Control performance by three goals • Controlled-variable performance ― Minimize the IAE of controlled variable • Model error―Robustness • Manipulated-variable behavior―Excessive variation
＊ Tuning correlations ◎ Time fraction e.g.
＊ Ciancone correlations (pp.280) • PID tuning constants • PI tuning constants
S1. Model building S2. Tuning constants by using Ciancone
＊ Ciancone correlations vs. Lopez correlations • Disturbance rejection
Table 9.1 Table 9.2
P1. Based on Z-N tuning method P2. Based on T-L tuning method
Homework #2: Q8.15 Q9.4 Q9.14＊