Design of a Nonlinear PID Controller and Tuning Rules for First-Order Plus Time Delay Models

Gang-Gyoo JIN¹, Yung-Deug SON^2*
¹ School of Electrical Engineering and Computing, Adama Science and Technology University,
P.O. Box 1888, Adama, Ethiopia
gjin30@gmail.com
² Department of Mechanical Facility Control Engineering, Korea University of Technology and Education,
1600 Chungjeol-ro, Dongnam-gu, Cheonan, Chungnam, 31253, Korea
ydson@koreatech.ac.kr (^*Corresponding author)

ABSTRACT: This paper introduces a simple but effective nonlinear proportional-integral-derivative (PID) controller and three model-based tuning rules for first-order plus time delay (FOPTD) models. The proposed controller is based on a conventional PID control architecture, wherein a nonlinear gain is coupled in series with the integral action to scale the error. The optimal parameter sets of the proposed PID controller for step setpoint tracking are obtained based on the FOPTD model, dimensional analysis and a genetic algorithm. As for gauging the performance of the controller, three performance indices (ISE, IAE and ITAE) are adopted. Then, tuning rules are derived using the tuned parameter sets, potential rule models and the least squares method. The simulation results carried out on three processes demonstrate that the proposed method exhibits better performance than the conventional linear PID controllers.

KEYWORDS: Nonlinear PID, FOPTD model, Tuning rule, Dimensional analysis, Genetic algorithm, Least squares method.

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CITE THIS PAPER AS:
Gang-Gyoo JIN, Yung-Deug SON, Design of a Nonlinear PID Controller and Tuning Rules for First-Order Plus Time Delay Models, Studies in Informatics and Control, ISSN 1220-1766, vol. 28(2), pp. 157-166, 2019. https://doi.org/10.24846/v28i2y201904