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Process Control: Modeling, Design, and Simulation by B. Wayne Bequette

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5.6. Effect of Tuning Parameters

We have shown how to use the closed-loop characteristic equation to determine the closed-loop stability of processes. Except for P-only control, we have not discussed the effect of controller tuning parameters on the feedback system performance (closed-loop response).

Our discussion here is based on open-loop stable processes. To better understand the effect of controller tuning parameters, you should experiment with a number of transfer functions. You can also determine the closed-loop poles as a function of the tuning parameters, for a particular process.

Table 5-1. Closed-Loop Poles as a Function of Proportional Gain for Example 5.3[a]
kcp1p2p3
0–1.0000–0.5000–0.3333
0.1000–1.0432–0.3951–0.1402j–0.3951+0.1402j ...

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