Ecuaciones de Sintonía para Controladores PID usando la Minimización del Error y de la Varianza de la Señal del Controlador como la Función Objetivo

Abstract

New tuning equations for PID controllers based on first-order-plus-dead-time process parameters are developed in this work. The optimization criterion is the minimization of a target function composed by a combination of integral-of-the-absolute-error (IAE) and the controller signal variance, which considers not only the controlled variable response but also the actuators safety. Two sets of tuning equations are obtained, one for 0.1 <1.5 and another one for 1.5 <5.0. Both tuning equation sets are assessed with benchmark processes and their performances are compared with the tuning formulas for Minimum IAE, integral of the squared error (ISTE), internal model control (IMC) and λ tuning. Unlike traditional tuning equations, those proposed in this work consider not only the controlled variable response, but also favors responses with low variability of signals to the actuators.