Tuning rules for optimal PID and fractional-order PID controllers

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• 作者：Fabrizio Padula^a ; ^{fabrizio.padula@ing.unibs.it} ; Antonio Visioli ; ^a ; ^{antonio.visioli@ing.unibs.it}
• 关键词：Fractional-order controllers ; PID control ; Tuning ; Optimisation ; Performance assessment
• 刊名：Journal of Process Control
• 出版年：2011
• 出版时间：January 2011
• 年：2011
• 卷：21
• 期：1
• 页码：69-81
• 全文大小：1488 K

文摘

In this paper we present a set of tuning rules for standard (integer-order) PID and fractional-order PID controllers. Based on a first-order-plus-dead-time model of the process, the tuning rules have been devised in order to minimise the integrated absolute error with a constraint on the maximum sensitivity. The achieved performance indexes can also be used for the assessment of the controller performance. Both set-point following and load disturbance rejection tasks are considered. By comparing the results obtained for the two kinds of controllers, it is shown that the use of fractional-order integral action is not advantageous, while the use of a fractional-order derivative action provides a performance improvement.