Experiments of Controlers Tuning Based on Integral Criteria

Abstract

For a system specified by the process, actuator and transducer, the obtaining of a certain operating regime (stationary and transient) is conditioned by the proper choice of a controller’s structure and the tuning parameters. In order to satisfy the required performances, in most of the cases, contradictory solutions are reached, finally choosing the compromise solutions that provide acceptable values for all of the quality indices. Considering the set-point and the disturbance, the PID controllers may be tuned based on a series of criteria, including the relationships that minimize the integral of the error, known as the "minimum error integral tuning”. The paper presents the Matlab-Simulink simulation experiments, describing the behavior of a first order plus dead time (FOPDT) system with controllers tuned based on the integral of square error (ISE), the integral of absolute error (IAE) and the integral of time multiplied by absolute error (ITAE).