1. Chapter 9 PID Controller Tuning ※ Control performance by three goals 1.Controlled-variable performance ― Minimize the IAE of controlled variable 2.Model error―Robustness 3.Manipulated-variable behavior―Excessive variation

3. ＊ Typical feedback control loop

4. Where the combination

5. ＊ Base value of process

6. ＊ IAE vs. controller gain (P)

7. ＊ IAE vs. PI control

8. ＊ IAE vs. PID control

9. ＊ Tuning correlations ◎ Time fraction e.g.

10. ＊ Ciancone correlations (pp.280) (1)PID tuning constants (2)PI tuning constants

11. (1) PID tuning constants

12. (2) PI tuning constants

13. Ex. 9.1

14. S1. Model building S2. Tuning constants by using Ciancone

15. S3. Responses

16. ＊ Ciancone correlations vs. Lopez correlations 1.Disturbance rejection

17. 2. Robustness

18. ＊ Other tuning procedures 1.

19. Table 9.2 Table 9.1

20. Ex. 9.2

21. P1. Based on Z-N tuning method P2. Based on T-L tuning method

22. 2.Tuning rules for FOPDT model

23. Homework #2: Q8.15 Q9.4 Q9.14 ＊