4.4: FOLIPD Model

4.4 FOLIPD Model

Table 95: PID controller tuning rules FOLIPD model
Rule	K _c	T _i	T _d	Comment
	Minimum performance index: regulator tuning
Minimum ISE Haalman (1965).		0	T _m	Model: Method 1
A _m=2.36; =50 ⁰; M _s=1.9.
	Direct synthesis
Van der Grinten (1963). Model: Method 1		0	T _m+0.5 ? _m	Step disturbance
	0	^[1]T _d ⁽⁴³¹⁾	Stochastic disturbance
Tachibana (1984).		0	T _m	Model: Method 5
Chen et al. (1999a).		0	^[2]T _d ⁽⁴³²⁾	Model: Method 1
	0	^[2]T _d ⁽⁴³³⁾	Model: Method 1
V te?kov (1999), V te?kov et al. (2000a). Model: Method 1	x ₁/K _m ? _m	0	T _m
Coefficient values
x ₁	OS	x ₁	OS	x ₁	OS	x ₁	OS
0.368	0%	0.641	15%	0.801	30%	0.957	45%
0.514	5%	0.696	20%	0.853	35%	1.008	50%
0.581	10%	0.748	25%	0.906	40%
O Dwyer (2001a). Model: Method 1		0	T _m	A _m=0.5/x ₁; =0.5 ??x ₁
Representative coefficient values
x ₁	A _m		x ₁	A _m
0.785	2	45 ⁰	0.524	3	60 ⁰
Chen and Seborg (2002).	^[3]K _c ⁽⁴³⁴⁾	3T _CL+ ? _m	T _d ⁽⁴³⁴⁾	Model: Method 1
	Robust
Rivera and Jun (2000). Model: Method 1		? _m+T _m+2 ?		? not specified
	Ultimate cycle
McMillan (1984). Model: Method 1	^[4]K _c ⁽⁴³⁵⁾	T _i ⁽⁴³⁵⁾	0.25T _i ⁽⁴³⁵⁾	Tuning...