EVALUATION OF THE NEW TUNING RULES SIMULATION RESULTS

we illustrate the performance of the new tuning rules using the following simulated example (Process A) 

These results illustrate that with the lower performance specification (Td — 2), there is little difierence between the PI and PID performance. However, for the higher performance specifications (rd = 1 and 0.67), the PID performance is superior in that it produces less oscillatory control signal and process output responses. 

As can be seen from Table 7.1, all three of the normalized controller parameters vary with the choice of fd- For Process A, Table 7.2 presents the actual controller parameters for the three different performance levels. For this example, the controller gain increases as fd decreases, the integral time constant increases and then decreases as fd decreases, and the derivative time constant increases as fd decreases. In addition, the amount of derivative action relative to the integral action changes as a function of fd- For instance, at fd = 2, = 0.1 Euid at fd -- 0.67, = 0.24. 

Smooth Transition from PID to PI Performance as Filtering is Added 

Fast Disturbance Rejection Provided with Large L 

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