In Chapter 5 we were given a process transfer function and a controller transfer function (P, PI, PID, etc.) and asked to find the closed-loop response (or stability). In this chapter we provide an overview of classical methods for tuning PID controllers. We also provide an introduction to model-based techniques, using the direct synthesis approach.
After studying this chapter, the reader should be able to do the following:
Understand the different forms of a PID controller
Tune PID controllers using the classical, Ziegler-Nichols, and Cohen-Coon methods
Derive controllers based on a process model and desired closed-loop response
The major sections of this chapter are as follows:
6.2 Closed-Loop ...