AS 3/2017

CONTROLLO

tecnica

Automazione e Strumentazione

Aprile 2017

As it can be seen, one of the characteristics of the uSort

tuning is that robustness only affects the proportional

gain.

Figure 2

shows the output and control signals

for the considered design case studies. The advantage of

using a more elaborated model can be observed as a more

high performance control system can be attained even

with a more severe robustness constraint.

References

[1]

O’Dwyer.

Handbook of PI and PID Controller Tun-

ing Rules

. Imperial College Press, London, UK, 3rd. edi-

tion, 2009.

[2]

V.M. Alfaro, R. Vilanova. “Simple Robust Tuning of

2DoF PID controllers from a performance/Robustness

trade-off analysis”.

Asian Journal of Control

, Vol. 15, No.

5, pp. 1–14, September 2013.

[3]

F. G. Shinskey. “Process Control: As Taught vs as Prac-

ticed”.

Ind. Eng. Chem. Res.

, 41:3745{3750, 2002.

[4]

R. Vilanova, A. Visioli.

PID Control in the Third Mil-

lenium - Lessons Learned and New Approaches

. Spring-

er-Verlag London Limited, 2012.

Table 2 - uSort controller parameters and performance measures

for the design case study example

Figure 2 - Output and control signals for the uSort design example