4.3: IPD Model

4.3 IPD Model

Table 80: PID controller tuning rules IPD model
Rule	K _c	T _i	T _d	Comment
	Process reaction
Ford (1953). Model: Method 3		2 ? _m	0.37 ? _m	Decay ratio 2.7:1
str m and H gglund (1995) page 139.		2 ? _m	0.5 ? _m	Model: Method 1
Ultimate cycle Ziegler-Nichols equivalent
Hay (1998) page 188.		3.2 ? _m	0.8 ? _m	Model: Method 3
Hay (1998) page 199. Model: Method 1; K _c, T _d deduced from graphs	10.0	3.2K _m ? _m ²	0.55 ? _m	K _m ? _m=0.1
4.0	0.30 ? _m	K _m ? _m=0.2
2.5	0.25 ? _m	K _m ? _m=0.3
2.0	0.25 ? _m	K _m ? _m=0.4
1.8	0.25 ? _m	K _m ? _m=0.5, 0.6
	Minimum performance index: regulator tuning
Visioli (2001). Model: Method 1	x ₁/K _m ? _m	x ₂ ? _m	x ₃ ? _m
Coefficient values
1.37	1.49	0.59	Minimum ISE
1.36	1.66	0.53	Minimum ITSE
1.34	1.83	0.49	Minimum ISTSE
	Minimum performance index: servo tuning
Visioli (2001). Model: Method 1	x ₁/K _m ? _m	0	x ₃ ? _m
Coefficient values
1.03		0.49	Minimum ISE
0.96	0.45	Minimum ITSE
0.90	0.45	Minimum ISTSE
	Minimum performance index: other tuning
str m and H gglund (2004). Model: Method 1	x ₁/K _m ? _m	x ₂ ? _m	x ₃ ? _m
Coefficient...