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

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11.8. Summary

A number of enhancements to standard PID controllers have been presented in this chapter. All commercial controllers implement ARW methods of one form or another. It is particularly important for cascade controllers to use external reset windup protection.

A number of controllers also have autotune features, but some of these are proprietary. We have presented the approach that is most widely presented in the literature. Using a relay function in the closed loop provides a closed-loop oscillation similar to the Ziegler-Nichols closed-loop oscillation method. There are several of advantages to the relay-based approach: the magnitude of the oscillations is bounded by proper selection of the manipulated input constraints, and the time ...

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