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Tuning and Control Loop Performance, Fourth Edition, 4th Edition by Gregory K. McMillan

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CHAPTER 5

EFFECT OF CONTROLLER DYNAMICS

5.1INTRODUCTION

The effect of proportional-integral-derivative (PID) execution rate and filter time has been the subject of much confusion. Simulation tests often show little to no effect of execution rate on loop dead time because of the timing of the change in setpoint or disturbance in the test setup. Filter tests can be deceptive as well if the unfiltered process variable (PV) is not trended. Finally there are two effects at play, each dependent upon the tuning settings. A difference in tuning settings can change the conclusions reached on the effect of PID execution rate and filter time.

If the PID execution rate and filter time are relatively fast compared to the reset time, the first effect directly ...

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