PID_Control_-_New_Identification_and_Design_Methods.pdf

Michael A. Johnson

Mohammad H. Moradi

PID Control

New Identification and Design Methods

Michael A. Johnson and Mohammad H. Moradi (Editors)

With

J. Crowe, K.K. Tan, T.H. Lee, R. Ferdous, M.R. Katebi, H.-P. Huang,

J.-C. Jeng, K.S. Tang, G.R. Chen, K.F. Man, S. Kwong, A. Sánchez,

Q.-G. Wang, Yong Zhang, Yu Zhang, P. Martin, M.J. Grimble and

D.R. Greenwood

PID Control

New Identification and Design Methods

With 285 Figures

Michael A. Johnson, PhD

Mohammad H.Moradi, PhD

Industrial Control Centre

Electrical Engineering Group

University of Strathclyde

Faculty of Engineering

Graham Hills Building

Bu-Ali Sina University

50 George Street

Hamadan

Glasgow

Iran

G1 1QE

British Library Cataloguing in Publication Data

PID control : new identification and design methods

1.PID controllers

I.Johnson, Michael A., 1948- II.Moradi, Mohammad H.

(Mohammad Hassan), 1967-

629.8

ISBN 1852337028

Library of Congress Cataloging in Publication Data

PID control : new identification and design methods / Michael A. Johnson

(editor), Mohammed H. Moradi (editor); with J. Crowe ... [et al.]

p. cm.

Includes bibliographical references and index.

ISBN 1-85233-702-8

1. PID controllers–Design and construction. I. Johnson, Michael A., 1948- II. Moradi,

Mohammad H. (Mohammad Hassan), 1967- III. Crowe, J.

TJ223.P55P53 2005

629.8--dc22

2004057797

Apart from any fair dealing for the purposes of research or private study, or criticism or review, as permitted under the

Copyright, Designs and Patents Act 1988, this publication may only be reproduced, stored or transmitted, in any form or by any

means, with the prior permission in writing of the publishers, or in the case of reprographic reproduction in accordance with

the terms of licences issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms

should be sent to the publishers.

ISBN-10: 1-85233-702-8

ISBN-13: 978-1-85233-702-5

Springer Science+Business Media

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Typesetting: Ian Kingston Publishing Services, Nottingham, UK

Printed in the United States of America

69/3830-543210 Printed on acid-free paper SPIN 10894354

For the gift of loving parents and family and for my grandchildren, Ethan and

Te i g a n

Michael A. Johnson

To my wife, Mehri, and my sons, Aref and Ali, for their understanding and

consideration; To my parents for their love over many years and to my family

for their support.

Mohammad H. Moradi

Preface

The industrial evidence is that for many control problems, particularly those of the process industries,

theProportional,IntegralandDerivative(PID)controlleristhemaincontroltoolbeingused.Forthese

industrial problems, the PID control module is a building block which provides the regulation and

disturbance rejection for single loop, cascade, multi-loop and multi-input multi-output control

schemes. Over the decades, PID control technology has undergone many changes and today the

controller may be a standard utility routine within the supervisory system software, a dedicated hard-

ware process controller unit or an input–output module within a programmable electronic system

which can be used for control system construction.

With such a well-developed industrial technology available it is not surprising that an academic

colleague on learning that we planned a book on PID control exclaimed, “Surely not! Is there anything

left to be said?”.Of course, the short answer is that technology does not stand still: new solution capabil-

ities are always emerging and PID control will evolve too. Indeed, the Ziegler–Nichols rules have been

famous for over sixty years and the Åström and Hägglund relay experiment has been around for twenty

years, so it would be disappointing if some new approaches to PID control had not emerged in themean-

time. However, that is not to claim that all the methods discussed in this book will replace existing tech-

nologies; nor is this book a definitive survey of all that has taken place in the developments of PID

control since, say, 1985. The book was originally conceived as a set of chapters about new ideas that are

being investigated in PID control; it might be more accurately subtitled “ Some new identification and

design methods”.

The first proposals for this bookwere constructed using a classification scheme based on the extent to

which amethod used amodel, then what type of model and then whether themethod used optimisation

principles or not; a very academic approach. Such a scheme does work, but, as one reviewer remarked, it

is perhaps unnecessarily rigid.However, another objective of the Editors was to incorporate into the text

a set of contributions from international authors, and this is more difficult to achieve with a very strict

classification framework. Consequently, the finished book has a more relaxed structure but retains an

inherent methodological agenda.

The book opens with two basic chapters about PID controllers. Industrial technology is examined

using discussions, examples and pictures in Chapter 1. Two interesting industrial product reviews

significantly add to the value of this chapter. Chapter 2 is constructed around a set of useful concepts

which say more about the PID notation and conventions than anything else. The material in these two

opening chapters is descriptive and informative; some of it is theory, but it is selective. It is designed to

bepartlyarepositoryofexistingtechnologyandexpertiseandpartlyanintroductiontosomeofthe

terminology and concepts that will be used in subsequent chapters. The sections in these two chapters

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