Chapter 8

PID Controller Tuning

In Chapter 6, “Introduction to Feedback Control,” we were given a process and controller transfer functions and asked to find the closed-loop response (or stability), while in Chapter 7, “Model-Based Control,” we studied model-based controller design, including IMC-based PID. In this chapter, we provide an overview of methods for tuning PID controllers.

After studying this chapter, the reader should be able to

  • Understand the different forms of a PID controller.

  • Tune PID controllers using the Ziegler-Nichols and Cohen-Coon methods.

  • Implement digital PID controllers.

The major sections of this chapter are as follows:

8.1 Introduction

8.2 Closed-Loop Oscillation-Based Tuning

8.3 Tuning Rules for First-Order + Deadtime ...

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