| 초록 |
The design of the PID controller cascaded with first order filter has been proposed for the integrating and first order unstable time delay process. The design algorithm is based on the IMC criterion which has single tuning parameter to adjust the performance and robustness of the controller. The simulation results of the suggested method are compared with other recently published tuning methods to demonstrate the superiority of the proposed method. Furthermore, the robustness of the proposed controller investigated by inserting a perturbation uncertainty in all parameters simultaneously to obtain the worst case model mismatch, where proposed study has clear advantage. For the ease of the selection of closed-loop time constant (λ), a guideline is provided at different robustness level for a broad range of θ/τ ratio. |
