In this paper a generalized tuning methodology for proportional-integral-derivative (PID) controllers is proposed. The methodology is akin to the Ziegler-Nichols forced oscillation method, inheriting fully its practical appeal, but can be applied to much more general classes of plants. This generalization is achieved by employing a relay with adjustable phase (RAP) in a relay feedback experiment, and the tuning consists of formulas based on measurements obtained from this experiment. Experimental results in a liquid processing plant with of-the-shelf industrial equipments illustrate the performance of the methodology and the practical procedures involved in its application, which can be fully automated.
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| http://dx.doi.org/10.1016/j.isatra.2018.11.014 | DOI Listing |
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