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Design of robust multi-loop PI controller for improved disturbance rejection with constraint on minimum singular value

Arun Pathiran, Muniraj Rathinam, Boselin Prabhu S.R., Jarin T., Willjuice Iruthayarajan M.

Archives of Control Sciences

2023

Vol. 33, No. 4

839--859

Disturbance rejection performance optimization with constraints on robustness for a multivariable process is commonly encountered in industrial control applications. This paper presents the tuning of a multi-loop Proportional Integral (PI) controller method to enhance the performance of load disturbance rejection using evolutionary optimization. The proposed design methodology is formulated to minimize the load disturbance rejection response and the input control energy under the constraints of robust stability. The minimum singular value of multiplicative uncertainty is considered a multi-loop system robust stability indicator. Optimization is performed to achieve the same, or higher level than the most-explored Direct Synthesis (DS) based multi-loop PI controller, which is derived from a conventional criterion. Simulation analysis clearly proved that the proposed multi-loop PI controller tuning method gives better disturbance rejection, and either, the same or a higher level of robust stability when compared to the DS-based multi-loop PI controller.

Unified design method of time delayed PI controller for first order plus dead-time process models with different dead-time to time constant ratio

Pathiran Arun R., Muniraj R., Iruthayarajan M. Willjuice, Prabhu S. R. Boselin, Jarin T.

Archives of Control Sciences

2021

Vol. 31, No. 2

447--476

The time delay element present in the PI controller brings dead-time compensation capability and shows improved performance for dead-time processes. However, design of robust time delayed PI controller needs much responsiveness for uncertainty in dead-time processes. Hence in this paper, robustness of time delayed PI controller has been analyzed for First Order plus Dead-Time (FOPDT) process model. The process having dead-time greater than three times of time constant is very sensitive to dead-time variation. A first order filter is introduced to ensure robustness. Furthermore, integral time constant of time delayed PI controller is modified to attain better regulatory performance for the lag-dominant processes. The FOPDT process models are classified into dead-time/lag dominated on the basis of dead-time to time constant ratio. A unified tuning method is developed for processes with a number of dead-time to time constant ratio. Several simulation examples and experimental evaluation are exhibited to show the efficiency of the proposed unified tuning technique. The applicability to the process models other than FOPDT such as high-order, integrating, right half plane zero systems are also demonstrated via simulation examples.