A New Pid Controller Auto-tuning Method Based on Multiple Integrations

The magnitude optimum (MO) technique provides non-oscillatory closed-loop response for a large class of process models. However, this technique is based on an accurate model which requires precise process identification and extensive computations. In the present lecture, it is shown that there exists a close relation between multiple integrations of the process step response and the MO criterion. Thanks to this relation, the MO criterion can be achived in a very simple way. Some practical guidelines how to perform multiple integrations and how to re-tune controller parameters are given. A description of an auto-tuning algorithm, based on this new approach, with real-time examples on the laboratory set-ups is given as well.