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  4. Discrete-time PID Controller Tuning Using Frequency Loop-Shaping
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Discrete-time PID Controller Tuning Using Frequency Loop-Shaping

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Description

Proportional-Integral-Derivative (PID) controllers are a versatile category of controllers that are commonly used in the industry as control systems due to the ease of their implementation and low cost. One problem that continues to intrigue control designers is the matter of finding a good combination of the three parameters - P, I and D of these controllers so that system stability and optimum performance is achieved. Also, a certain amount of robustness to the process is expected from the PID controllers. In the past, many different methods for tuning PID parameters have been developed. Some notable techniques are the Ziegler-Nichols, Cohen-Coon, Astrom methods etc. For all these techniques, a simple limitation remained with the fact that for a particular system, there can be only one set of tuned parameters; i.e. there are no degrees of freedom involved to readjust the parameters for a given system to achieve, for instance, higher bandwidth. Another limitation in most cases is where a controller is designed in continuous time then converted into discrete-time for computer implementation. The drawback of this method is that some robustness due to phase and gain margin is lost in the process. In this work a method of tuning PID controllers using a loop-shaping approach has been developed where the bandwidth of the system can be chosen within an acceptable range. The loop-shaping is done against a Glover-McFarlane type ℋ∞ controller which is widely accepted as a robust control design method. The numerical computations are carried out entirely in discrete-time so there is no loss of robustness due to conversion and approximations near Nyquist frequencies. Some extra degrees of freedom owing to choice of bandwidth and capability of choosing loop-shapes are also involved and are discussed in detail. Finally, comparisons of this method against existing techniques for tuning PID controllers both in continuous and in discrete-time are shown. The results tell us that our design performs well for loop-shapes that are achievable through a PID controller.

Date Created
2011
Contributors
  • Shafique, Md. Ashfaque Bin (Author)
  • Tsakalis, Konstantinos S. (Thesis advisor)
  • Rodriguez, Armando A. (Committee member)
  • Si, Jennie (Committee member)
  • Arizona State University (Publisher)
Topical Subject
  • Electrical Engineering
  • Ellipsoid Method
  • Glover Macfarlane ℋ∞ controller
  • LMI optimization
  • Loop-Shaping
  • PID Control
  • PID tuning
  • Robust control
  • Tuning
  • PID controllers--Design and construction.
  • PID controllers
Resource Type
Text
Genre
Masters Thesis
Academic theses
Extent
xi, 55 p. : ill. (some col.)
Language
eng
Copyright Statement
In Copyright
Reuse Permissions
All Rights Reserved
Primary Member of
ASU Electronic Theses and Dissertations
Peer-reviewed
No
Open Access
No
Handle
https://hdl.handle.net/2286/R.I.14325
Statement of Responsibility
by Md. Ashfaque Bin Shafique
Description Source
Viewed on Nov. 26, 2012
Level of coding
full
Note
Partial requirement for: M.S., Arizona State University, 2011
Note type
thesis
Includes bibliographical references (p. 52-55)
Note type
bibliography
Field of study: Electrical engineering
System Created
  • 2012-08-24 06:08:47
System Modified
  • 2021-08-30 01:50:06
  •     
  • 1 year 5 months ago
Additional Formats
  • OAI Dublin Core
  • MODS XML

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