Please use this identifier to cite or link to this item: https://doi.org/10.1109/87.508897
Title: Performance and gain and phase margins of well-known PID tuning formulas
Authors: Ho, W.K. 
Gan, O.P.
Tay, E.B. 
Ang, E.L.
Issue Date: 1996
Source: Ho, W.K., Gan, O.P., Tay, E.B., Ang, E.L. (1996). Performance and gain and phase margins of well-known PID tuning formulas. IEEE Transactions on Control Systems Technology 4 (4) : 473-477. ScholarBank@NUS Repository. https://doi.org/10.1109/87.508897
Abstract: The performance and robustness of well-known PID formulas for process with deadtime to time constant ratio between 0.1 and 1 are discussed in this paper. The Ziegler-Nichols, Cohen-Coon, and tuning formulas that optimize for load disturbance response (integral absolute error, integral squared error, and integral time-weighted absolute error) give gain margins of about 1.5. The phase margins increase from about 30 to 60° as the process deadtime to time constant ratio increases from 0.1 to 1. Tuning formulas that optimize setpoint response give gain margins of about two and phase margins of about 65°. These formulas mostly make use of the proportional-integral derivative (PID) controller zeros to cancel the process poles. Approximate analytical formulas to compute gain and phase margins of PID control systems are also derived in this paper to facilitate on-line computation which would be particularly useful for implementing adaptive control. © 1996 IEEE.
Source Title: IEEE Transactions on Control Systems Technology
URI: http://scholarbank.nus.edu.sg/handle/10635/80950
ISSN: 10636536
DOI: 10.1109/87.508897
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