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Advances in Industrial Control

Other titles published in this Series: Digital Controller Implementation and Fragility Robert S.H. Istepanian and James F. Whidborne (Eds.) Optimisation of Industrial Processes at Supervisory Level Doris Sáez, Aldo Cipriano and Andrzej W. Ordys Robust Control of Diesel Ship Propulsion Nikolaos Xiros Hydraulic Servo-systems Mohieddine Jelali and Andreas Kroll Strategies for Feedback Linearisation Freddy Garces, Victor M. Becerra, Chandrasekhar Kambhampati and Kevin Warwick Robust Autonomous Guidance Alberto Isidori, Lorenzo Marconi and Andrea Serrani Dynamic Modelling of Gas Turbines Gennady G. Kulikov and Haydn A. Thompson (Eds.) Control of Fuel Cell Power Systems Jay T. Pukrushpan, Anna G. Stefanopoulou and Huei Peng Fuzzy Logic, Identiﬁcation and Predictive Control Jairo Espinosa, Joos Vandewalle and Vincent Wertz Optimal Real-time Control of Sewer Networks Magdalene Marinaki and Markos Papageorgiou Process Modelling for Control Benoît Codrons Computational Intelligence in Time Series Forecasting Ajoy K. Palit and Dobrivoje Popovic Modelling and Control of mini-Flying Machines Pedro Castillo, Rogelio Lozano and Alejandro Dzul Rudder and Fin Ship Roll Stabilization Tristan Perez Hard Disk Drive Servo Systems (2nd Ed.) Ben M. Chen, Tong H. Lee, Kemao Peng and Venkatakrishnan Venkataramanan Measurement, Control, and Communication Using IEEE 1588 John Eidson Piezoelectric Transducers for Vibration Control and Damping S.O. Reza Moheimani and Andrew J. Fleming Manufacturing Systems Control Design Stjepan Bogdan, Frank L. Lewis, Zdenko Kovaˇci´c and José Mireles Jr. Windup in Control Peter Hippe Nonlinear H2/H∞ Constrained Feedback Control Murad Abu-Khalaf, Jie Huang and Frank L. Lewis Practical Grey-box Process Identiﬁcation Torsten Bohlin Modern Supervisory and Optimal Control Sandor Markon, Hajime Kita, Hiroshi Kise and Thomas Bartz-Beielstein Wind Turbine Control Systems Fernando D. Bianchi, Hernán De Battista and Ricardo J. Mantz Advanced Fuzzy Logic Technologies in Industrial Applications Ying Bai, Hanqi Zhuang and Dali Wang (Eds.) Soft Sensors for Monitoring and Control of Industrial Processes Luigi Fortuna, Salvatore Graziani, Alessandro Rizzo and Maria Gabriella Xibilia Advanced Control of Industrial Processes Piotr Tatjewski Publication due October 2006 Adaptive Voltage Control in Power Systems Giuseppe Fusco and Mario Russo Publication due October 2006

Antonio Visioli Practical PID Control With 241 Figures 123

Antonio Visioli, PhD Dipartimento di Elettronica per l’Automazione Università degli Studi di Brescia I-25123 Brescia Italy antonio.visioli@ing.unibs.it www.ing.unibs.it/˜visioli British Library Cataloguing in Publication Data Visioli, Antonio Practical PID control. - (Advances in industrial control) 1. PID controllers I. Title 629.8 ISBN-13: 9781846285851 ISBN-10: 1846285852 Library of Congress Control Number: 2006932289 Advances in Industrial Control series ISSN 1430-9491 ISBN-10: 1-84628-585-2 ISBN-13: 978-1-84628-585-1 e-ISBN 1-84628-586-0 © Springer-Verlag London Limited 2006 Printed on acid-free paper Apart from any fair dealing for the purposes of research or private study, or criticism or review, as permitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced, stored or transmitted, in any form or by any means, with the prior permission in writing of the publishers, or in the case of reprographic reproduction in accordance with the terms of licences issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to the publishers. The use of registered names, trademarks, etc. in this publication does not imply, even in the absence of a speciﬁc statement, that such names are exempt from the relevant laws and regulations and therefore free for general use. The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or omissions that may be made. 9 8 7 6 5 4 3 2 1 Springer Science+Business Media springer.com

Advances in Industrial Control Series Editors Professor Michael J. Grimble, Professor of Industrial Systems and Director Professor Michael A. Johnson, Professor (Emeritus) of Control Systems and Deputy Director Industrial Control Centre Department of Electronic and Electrical Engineering University of Strathclyde Graham Hills Building 50 George Street Glasgow G1 1QE United Kingdom Series Advisory Board Professor E.F. Camacho Escuela Superior de Ingenieros Universidad de Sevilla Camino de los Descobrimientos s/n 41092 Sevilla Spain Professor S. Engell Lehrstuhl für Anlagensteuerungstechnik Fachbereich Chemietechnik Universität Dortmund 44221 Dortmund Germany Professor G. Goodwin Department of Electrical and Computer Engineering The University of Newcastle Callaghan NSW 2308 Australia Professor T.J. Harris Department of Chemical Engineering Queen’s University Kingston, Ontario K7L 3N6 Canada Professor T.H. Lee Department of Electrical Engineering National University of Singapore 4 Engineering Drive 3 Singapore 117576

Professor Emeritus O.P. Malik Department of Electrical and Computer Engineering University of Calgary 2500, University Drive, NW Calgary Alberta T2N 1N4 Canada Professor K.-F. Man Electronic Engineering Department City University of Hong Kong Tat Chee Avenue Kowloon Hong Kong Professor G. Olsson Department of Industrial Electrical Engineering and Automation Lund Institute of Technology Box 118 S-221 00 Lund Sweden Professor A. Ray Pennsylvania State University Department of Mechanical Engineering 0329 Reber Building University Park PA 16802 USA Professor D.E. Seborg Chemical Engineering 3335 Engineering II University of California Santa Barbara Santa Barbara CA 93106 USA Doctor K.K. Tan Department of Electrical Engineering National University of Singapore 4 Engineering Drive 3 Singapore 117576 Professor Ikuo Yamamoto Kyushu University Graduate School Marine Technology Research and Development Program MARITEC, Headquarters, JAMSTEC 2-15 Natsushima Yokosuka Kanagawa 237-0061 Japan

To Angela and Gianco

Series Editor’s Foreword The series Advances in Industrial Control aims to report and encourage tech- nology transfer in control engineering. The rapid development of control tech- nology has an impact on all areas of the control discipline. New theory, new controllers, actuators, sensors, new industrial processes, computer methods, new applications, new philosophies..., new challenges. Much of this develop- ment work resides in industrial reports, feasibility study papers and the re- ports of advanced collaborative projects. The series oﬀers an opportunity for researchers to present an extended exposition of such new work in all aspects of industrial control for wider and rapid dissemination. In February, 2006, IEEE Control Systems Magazine celebrated its ﬁrst 25 years of publication and the special issue was devoted to the topic of PID control. It was fascinating to read of PID control developments in many of the departments of the magazine; these included several specialist PID con- trol articles, a review of PID patents, software and industrial hardware, a new design software package for PID control and reviews of four substantial new books on diﬀerent aspects of the PID control paradigm. The evidence from this special issue was that PID control continues to play a signiﬁcant and important role in industrial control engineering. When seeking reasons for this industrial popularity, many cite the simplicity of the control law, the straight forwardness of its tuning procedures and so on but, perhaps a more fundamental point is that so many industrial control loops are easy to control and PID control is all that is needed. Then, the simplicity of the PID con- trol law and the availability of pro-forma tuning procedures have real beneﬁt particularly as these have been captured by automated tuning procedures in widely available software packages. However, the converse of the above argument is also true and much of the sci- ence of PID control engineering has emerged from trying to understand and identify the exceptions, where PID control is not adequate for the complex- ities of the process, and the remedies that can be followed. One example of this type of new development is that of performance assessment and monitor- ing. This emerged from trying to ﬁnd simple ways of determining whether the many PID control loops in an industrial plant (and often there are hundreds) had controller tunings that were ﬁt for purpose. Questions like these on the practical aspects of PID control continue to motivate new developments for use in industrial practice. The Advances in Industrial Control series of monographs has always sought

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