Comparing PI Tuning Methods in a Real Benchmark Temperature Control System

Abstract

This paper demonstrates a number of PI controller tuning methods being used to tune a temperature controller for a real air heater. Indices expressing setpoint tracking and disturbance compensation and stability margin (robustness) are calculated. From these indices and a personal impression about how quick a method is to deliver the tuning result and how simple it is to use, a winning method is identified.

Keywords

• PI tuning
• air heater
• Skogestad's method
• Ziegler-Nichols' methods
• Haegglund and Astrom's method
• Tyreus-Luyben's method
• Relay method
• Setpoint Overshoot method