Antonín Víteček

Controller Tuning for Controlled Plants with Time Delay

Abstract The paper describes a conventional digital and analog controllers tuning for controlled plants with a time delay on the basis of the general dynamics inversion method. The proposed approach is new and very simple. It enables a controller tuning so that a relative overshoot for common controlled plants with a time delay will be in the range from 0 to 50 % for the step change of a desired variable or a disturbance variable acting on an output of the controlled plant.

Plant Identification by Relay Method

Plant identification is very important in control design. The relay method belongs among special kinds of experimental frequency response identification. It was originally used for plant identification by Rotach (Rotac, 1964) and lately also for controller autotuning, see reference (Astrőm & Wittenmark, 1989; Astrőm, 1993; Astrőm & Hagglund, 1995; Bi et al., 1997; Hang et al., 1993; Lu et al., 1998; Shen et al., 1999; Tan et al., 1996; Wang et al., 1999). Autotuning of controllers for MIMO plants is described in references (Halevi et al., 1997; Loh & Vasnani, 1994; Semino & Scali, 1998). At present more publications exist which are devoted to identification or controller autotuning on the basis of the relay experiment, e.g. (Besancon-Voda & Roux-Buisson, 1997; Hang et al., 2002; Huang et al. 2005; Johnson & Moradi, 2005; Kaya & Atherton, 2001; Lee et al., 1995; Leva & Donida, 2009; Leva & Maggio, 2009; Liu & Gao, 2009; Majhi, 2005; Majhi, 2007; Panda & Yu, 2003; Panda & Yu, 2005; Prokop et al., 2010; Sung et al., 2009; Tan et al., 2001; Tan et al., 2002; Viteckova & Vitecek, 2005; Vivek & Chidambaram, 2005). The aim of this paper is to summarily describe and show the basic modifications of the relay methods from the viewpoint of experimental plant identification and to bring out the computational formulas for simple plants. Two-position symmetric relays without and with hysteresis and with the integrator in front of the relay and behind of the relay are considered.

Simple PI and PID Controllers Tuning for Monotone Self-Regulating Plants

Abstract The paper describes an original analytic-experimental approach to simple digital and analog PI and PID controllers tuning for monotone self-regulating plants with a time delay. Values of adjustable controller parameters ensuring a marginal monotone control process are determined analytically, and the gain of the controller is tuned experimentally so that an overshoot of a step response of control system corresponds to the concept of the designer. The approach is taken from the dynamics inversion method and its use is shown in the examples.

Analytical Digital and Analog Controller Tuning Method for Proportional Non-Oscillatory Plants with Time Delay

Abstract The paper deals with the analytical digital and analog controller tuning method for the non-oscillatory proportional plants with time delays. The described method is based on the real dominant multiple pole and the D-transform. The resultant control process is closed to the marginal non-oscillatory course. The application is shown on the examples.

2DOF Controller Tuning

At present the two degrees of freedom (2DOF) controllers are more often available. These controllers enable to tune both from point of view of the desired variable and the disturbance variable as well. It allows increase the overall quality of control. For the tuning of the 2DOF controllers to date there are only a few suitable methods. This paper is devoted to the tuning of the 2DOF PI and PID controllers by the multiple dominant pole method (MDPM) for first order plants and integrating plants with time delay. It is an analytical method and it is shown that by the corresponding tuning of the 2DOF controllers it is possible to obtain the non-oscillatory servo and regulatory step responses without overshoots. The use is demonstrated in the example.

PI and PID Controllers Tuning

Abstract The paper describes an original analytic-experimental approach to digital and analog PI and PID controllers tuning for monotone proportional controlled plants with a time delay. The proposed approach is very simple. It enables a controller tuning so that a relative overshoot will be in the range from 0 to 50 % for the step change of a desired variable or a disturbance variable acting on an output of the controlled plant. The approach is taken from the dynamics inversion method.

Nonlinear Control Synthesis

Abstract The aggregation method in nonlinear control synthesis for the standard nonlinear dynamic subsystems is considered. The proposed approach is relatively simple and effective but nevertheless it does not demand a deep knowledge of the optimal control theory. The merit of the described nonlinear control synthesis is the design of nonadaptive, adaptive or combined controls which ensure feedback linearization of closed-loop control systems. An application is shown in an example.