Series PIDA Controller Design for IPDT Processes

Abstract

This paper discusses optimal design of the series proportional–integral–derivative–accelerative (PIDA) controller for integral-plus-dead-time (IPDT) plants. The article starts with the design of disturbance reconstruction and compensation based on proportional-derivative-accelerative (PDA) stabilizing controllers. It shows that by introducing positive feedback by a low-pass filter from the (limited) output of the stabilizing PDA controller, one gets disturbance observer (DOB) for the reconstruction and compensation of input disturbances. Thereby, the DOB functionality is based on evaluating steady-state controller output. This DOB interpretation is in full agreement with the results of the analysis of the optimal setting of the stabilizing PDA controller and of its expanded PIDA version with positive feedback from the controller output. By using the multiple real dominant pole (MRDP) method, it confirms that the low-pass filter time constant in positive feedback must be much longer than the dominant time constant of the stabilized loop. This paper also shows that the constrained PIDA controller with the MRDP setting leads to transient responses with input and output overshoots. Experimentally, such a constrained series PIDA controller can be shown as equivalent to a constrained MRDP tuned parallel PIDA controller in anti-windup connection using conditional integration. Next, the article explores the possibility of removing overshoots of the output and input of the process achieved for MRDP tuning by interchanging the parameters of the controller transfer function, which was proven as very effective in the case of the series PID controller. It shows that such a modification of the controller can only be implemented approximately, when the factorization of the controller numerator, which gives complex conjugate zeros, will be replaced by a double real zero. Neglecting the imaginary part and specifying the feedback time constant with a smaller approximative time constant results in the removal of overshoots, but the resulting dynamics will not be faster than for the previously mentioned solutions. A significant improvement in the closed-loop performance can finally be achieved by the optimal setting of the constrained series PIDA controller calculated using the performance portrait method. This article also points out the terminologically incorrect designation of the proposed structure as series PIDA controller, because it does not contain any explicit integral action. Instead, it proposes a more thorough revision of the interpretation of controllers based on automatic reset from the controller output, which do not contain any integrator, but at the same time represent the core of the most used industrial automation. In the end, constrained structures using automatic reset of the stabilizing controller output can ensure a higher performance of transient responses than the usually preferred solutions based on parallel controllers with integral action that, in order to respect the control signal limitation, must be supplemented with anti-windup circuitry. The excellent properties of the constrained series PIDA controller are demonstrated by an example of controlling a thermal process and proven by the circle criterion of absolute stability.