Description

A new stochastic, predictive, proportional-integral-der ivative (PID) control law is proposed which is mathematically
equivalent to generalized predictive control (GPC) with a steady state weighting term. The main motivation of this
paper is the extension of the classical PID algorithm on industrial computers to do advanced control without
employing specialized software. The predictive PID constants and the internal model are chosen by equating the dis-
crete PID control law with the linear form of GPC. The result is a long range predictive control law with a model based
PID structure. Use of a first order model yields a PI controller while a second order plant results in a PID structure.
The process model order is restricted to a maximum of two although there is no restriction on the choice of GPC
tuning parameters. Performance of the predictive PID scheme is shown, via simulation, to be identical to GPC. Results
from the use of the predictive PID algorithm for the control of an industrial heat exchanger are also presented. # 1999
Elsevier Science Ltd. All rights reserved.