In this paper we analyze the performance that can be achieved by means of Proportional-Integral-Derivative-Acceleration (PIDA) controllers and we compare it with that achievable by means of PID controllers in order to evaluate the cost/benefit ratio when an action proportional to the second derivative of the control error is added to the control law. In particular, different process transfer functions are considered and the tuning of the controllers is determined with genetic algorithms by minimizing the integrated absolute error. Both the set-point following and load disturbance rejection tasks are evaluated. In order to provide a fair comparison, a constraint on the maximum sensitivity is also posed so that the achieved robustness is taken into account.
A comparison between PID and PIDA controllers
Visioli, Antonio
2022-01-01
Abstract
In this paper we analyze the performance that can be achieved by means of Proportional-Integral-Derivative-Acceleration (PIDA) controllers and we compare it with that achievable by means of PID controllers in order to evaluate the cost/benefit ratio when an action proportional to the second derivative of the control error is added to the control law. In particular, different process transfer functions are considered and the tuning of the controllers is determined with genetic algorithms by minimizing the integrated absolute error. Both the set-point following and load disturbance rejection tasks are evaluated. In order to provide a fair comparison, a constraint on the maximum sensitivity is also posed so that the achieved robustness is taken into account.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
