7. Literature 90 7 LITERATURE 3] [4] [6] [8] [9] (10) cy [12] Astrom, K.J. (1996). Tuning and Adaptation, IFAC 13" Triennial World Congress, San Francisco, USA, pp. 1-18, Astrom, K.J., Haglund, T. (1984), Automatic Tuning of Simple Regulators with Specifications on Phase and Amplitude Margins, Automatica, Vol. 20(5), pp. 645-651 Astrom, K.J., Hagglund, T. (1995). PID Controllers: Theory, Desig Instrument Society of America, North Carolina, USA Astrom, KJ, CC, Ho, W.K, (1993), Automatic Tuning and Adaptation for PID Controllers ~ A Survey, Control Eng, Practice, Vol. 1(4), pp. 699-714. and Tuning, Astrom, KJ., Hang C.C., Lim B.C, (1994). A New Smith Predictor for Controlling a Process with an Integrator and Long Dead-Time, IEEE Trans. on Auto, Control, Vol. 39(2), pp. 343-345, Astrom, K.J., Steingrimsson, H. (1991). Implementation of a PID Controller on a DSP. appeared as a contribution in: Digital Control Applications with the TMS320 Family Selected Application Notes, Texas Instruments, pp. 205-238. Astrom, K.J., Wittenmark, B. (1990), Computer controlled systems: theory and design, Prentice-Hall, New Jersey, USA. ‘oda, A., (1998). Iterative auto-calibration of digital controllers: methodology 5-358, Beasango! and applications, Control Eng. Practice, Vol. 8(6), pp. 34 Beasangon-Voda, A., Roux-Buisson, H.. (1997). Another version of the relay feedback experiment, J. Proc. Cont, Vol . 7(4), pp. 303-308, Biles, W.E., Swain, LJ. (1980). Optimization and Industrial Experimentation, John Wiley & Sons, New York, USA. Bohn, C., Atherton, D.P. (1995). An Analysis Package Comparing PID Anti-Windup Strategies, IEEE Cont, Sys., Vol. 15(2), pp. 34-40. Branica, 1, Petrovié, L., Perié, N. (1999). Towards Industrial Autotuning Controller, Proc: of 3 Int. Conf. on Systems - IMACS/IEEE CSCC'99: Progress in Simulation, Modeling, Analysis and Synthesis of Modern Electrical and Electronic Devices and Systems, Athens, Greece, pp.136-141 Clark, R.N. (1988), Another Reason to Eschew Pole-Zero Cancellation, IEEE Control Sys. Magazine, Vol. 8(2), pp. 87- Deur, J. (1999) Kompenzacija udinaka elastignosti i trenja u prijenosnim mehanizmima University of Zagreb, Zagreb, Croatia slijednih sustava (in Croatian), Doctoral thes Eitelberg, E. (1987). A regulating and tracking PI(D) controller, IntJ Control, Vol. 45(1), pp. 91-95 FEEDBACK Intruments Ltd (a). Process trainer PT326, Crowborough, UK.7. Literature 4 [17] FEEDBACK Intruments Ltd (b). Process control simulator PCS327, Crowborough, UK [18] Fung, H.W. Wang, Q.G., Lee, TH. (1998). PI Tuning in Terms of Gain and Phase Margins, Automatica, Vol. 34(9), pp. 1145-1149. [19] Goberdhansingh, E., Cluett, W.R. (1989), Evaluation of Industrial PID Autotuner, In Adaptive Control Strategies for Industrial Use, Shah S.L., Dumont G. (Eds.), Proc. of a Workshop, Kananaskis, Canada, Springer-Verlag, Berlin, pp. 295-302. [20] Haglund, T. (1995). A Control-loop Performance Monitor, Control Eng. Practice, Vol 3(11), pp. 1543-1551 [21] Hagglund, T. (1996), An industrial dead-time compensating PI controller, Control Eng. Practice, Vol. 4(6), pp. 749-756. [22] Hagglund, T., Astrom, K.J. (1997). Supervision of adaptive control systems, Proc. of IFAC-IFIP-IMACS Conf. on Control of Ind,Sys., Belfort, France, Vol. 2, pp. [23] Hamming, RW. (1973). Numerical Method for Scientists and Engineers, Dover Publ. New York, USA [24] Hang, C.C. (1989). The Choice of Controller Zeros, IEEE Control Sys. Magazine, Vol. 9(1), pp. 72-75 [25] Hang, C.C., Astrom, K.J., Ho, WK. (1989). Refinements of the Ziegler-Nichols tuning formula, IEE PROC.-D, Vol. 138(2), pp. 111-118 [26] Hang, C.C., Astrom, K.J., Ho, W.K., (1993) Relay Auto-tuning in the Presence of Static Load Disturbance, Automatica, Vol, 29(2), pp. 563-564. [27] Hippe, E., Wurmthaler, Ch., Dittrich, F. (1987). Comments on ‘A regulating and tracking PI(D) controller’, Int.J Control, Vol. 46(5), pp. 1851-1856. Technique for [28] Ho, WK., Feng, E.B., Gan, O.P. (1996a), A Novel Relay Auto-tuning Processes with Integration, Control Eng, Practice, Vol. 4(7), pp. 923-928. [29] Ho, W.K., Hang, C.C., Cao, L.S. (1995a). Tuning of PID Controllers Based on Gain and Phase Margin Specifications, Automatica, Vol. 31(3), pp. 497-502 [30] Ho, W-K., Hang, C.C., Wojsznis, W., Tao, QI. (1996b). Frequency Domain Approach to Self-Tuning PID Control, Control Eng. Practice, Vol. 4(6), pp. 807-813 [31] Ho, WK., Hang, C.C., Zhou, LH. (1995b). Performance and Gain and Phase Margins of Well-Known PI Tuning Formulas, IEEE Trans. On Cont. Sys. Tech., Vol. 3(2), pp. 245- 248 [32] Ho, WK, Gan, O.P., Tay, E.B., Ang, ELL. (1996c), Performance and Gain and Phase Margins of Well-Known PID Tuning Formulas, IEEE Trans, On Cont. Sys. Tech., Vol. 4(4), pp. 473-477. [33] Ho, W.K., Hang, C.C., Zhou, JH. (1997), Self-Tuning PID Control of a Plant with Under- Damped Response with Specifications on Gain and Phase Margins, IEEE Trans. On Cont Svs. Tech., Vol. 5(4), pp. 446-452 [34] Isermann, R. (1989). Digital Control Systems, Volume 1: Fundamentals, Deterministic -Verlag, Berlin, Germany Control, Spring7. Literature 92 K.H. (1997). Relay Feedback and Multivariable Control, PhD thesis, Lund [35] Johansson, Institute of Technology, Lund, Sweden [36] Juretié, B. (1998). Realizacija samopodesivog PID regulatora u programirljivom logickom kontroleru (in Croatian), Graduation Thesis No. 1070, Dept. of Control and Comp. Eng. in Automation, FEC, University of Zagreb, Zagreb, Croatia [37] Kessler, C. (1958). Das Symmetrische Optimum, Regelungstechnik, Vol. 6, pp. 395-400 & 432-436, [38] Kothare, M.V., Campo, P.J., Morari, M., Nett, C.N. (1994). A Unified Framework for the Study of Anti-windup Designs, Automatica, Vol. 30(12), pp. 1869-1883 [39] Kousek, 1. (1999). Izvedba robusnog regulatora zasnovanog na Smithovem prediktoru (in Croatian), Graduation Thesis No. 1114, Dept. of Control and Comp. Eng. in Automation, FEEC, University of Zagreb, Zagreb, Croatia, [40] Kuljaga, LJ., Vukié, Z., TeSnjak, S., Donlagié, D. (1997). Nelinearni sustavi automatskog, upravljanja —Knjiga I (in Croatian), University of Zagreb, Zagreb, Croatia [41] Laughlin, D.L., Rivera, D.E., Morari, M., (1987). Smith predictor design for robust performance, Int J.Control, Vol.46(2), pp. 477-504 [42] Leva, A. (1993). PID autotuning algorithm based on relay feedback, IEE PROC.-D, Vol. 140(5), pp. 328-338 [43] Loron, L. (1997). Tuning of PID Controllers by the Non-symmetrical Optimum Method, Automatica, Vol. 33(1), pp. 103-107 [44] Majhi, S. Atherton, D.P. (1998) Autotuning and Controller Design for Unstable Time Delay Processes, Proc. of UKACC Int. Conf. on Control, Swansea, United Kingdom, pp. 769- 774 [45] Marsili-Libelli, S. (1981). Optimal design of PID regulators, Int.J.Control, Vol.33(4), pp. 601-616 [46] Morati, M., Zafiriou, E. (1989), Robust process control, Prentice-Hall, New Jersey, USA. Rico, J.B, Bordons, C., Camacho, E.F., (1997). Improving the Robustness of s, Practice, Vol. S(6), pp. 801-810. [47] Norme Dead-time Compensating PI Controllers, Control Ei [48] Panagopoulos, H., Haglund, T., Astrom, K.J. (1997). The Lambda Method for Tuning PL Controllers, Report No. 7564, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden [49] Peng, Y., Vrancic, D., Hanus, R. (1996). Anti-Windup, Bumpless, and Conditioned Transfer Techniques for PID Controllers, IEEE Cont, Sys., Vol. 16(4), pp. 48-56. [50] Perié, N. (1979). Optimiranje sistema za pozicioniranje s reguliranim istosmjernim feb, elektromotornim pogonom (in Croatian), Master thesis, University of Zagreb, Croatia, (51] Perié, N. (1998) Automatsko upravljanje, predavanja - skripta (in Croatian), University of Zagreb, Zagreb, Croatia7. Literature (52) [53] [54] [55] [50] (57] [58] [59] {0} (61) (62) [63] [04] [65] {66} (671 (68] [69] [70] Perié, N., Petrovi¢, L, Branica, 1. (1997). A method of PID controller autotuning, Proc. of IFAC-IFIP-IMACS Conf. on Control of Ind. Sys., Belfort, France, Vol. 2, pp. 43-48, Persson, P. (1992). Towards Autonomous PID control, PhD thesis, Lund Institute of Technology, Lund, Sweden, Petrovié, I., Perié, N., Branica, I. (1998). Autotuning PID Controller with Supervision Shell, Proc. of the 17" LASTED Int. Conf,, Grindelwald, Switzerland, pp. 342-344 Poulin, E., Pomerleau, A., Desbiens, A., Hodouin, D. (1996). Development and Evaluation of an Auto-tuning and Adaptive PID Controller, Automatica, Vol. 32(1), pp. 71-82. Radke, F., Isermann, R. (1987). A Parameter-adaptive PID-controller with Stepwise Parameter Optimization, Automatica, Vol. 23(4), pp. 449-457. Rivera, D.E., Morari, M., Skogestad, S. (1986). Internal Model Control. 4. PID Controller Design, Ind. Eng. Chem. Process Des. Dev., Vol, 25(1), pp. 252-265. rans. on Ind. Schneider, D.M. (1988). Control of Processes with Time Delays, IE App., Vol.24(2), pp. 186-191 Seborg, D.E., Edgar, T.F., Mellichamp, D.A. (1989). Process Dynamics and Control, John Wiley & Sons, Toronto, Canada. SIEMENS AG (1997a). SIMATIC PID Self-tuner (User Manual) Narnberg, Germany. SIEMENS AG (1997b). SIMATIC $7-300, Programmable Controller - Integrated Functions for CPU 3121FM/314IFM (Manual), Niimberg, Germany. SIEMENS AG (1997c). STEP 7 Program Design (Programming Manual), Niimberg, Germany. SIEMENS AG (1997d). STEP 7 Statement List (STL) for S$7-300 and S7-400 Germany (Programming Manual), Niirnberg Stojié, M.R., Petrovié, T.B. (1986). Design of a digital PID stand-alone single-loop controller, Int J.Control, Vol. 43(4), pp. 1229-1242 Silj, 1 (1997). Nadzorna Ijuska upravijatkih algoritama (in Croatian), Graduation Thesis No. 1025, Dept. of Control and Comp. Eng. in Automation, FEEC, University of Zagreb, Zagreb, Croatia. The MathWorks (1997a). Getting Started with MATLAB — Version 5.1, Natick, MA, USA ‘The MathWorks (1997b). Real-Time Workshop, User's guide ~ Version 2.1, Natick, MA, USA ‘The MathWorks (1998). Using SIMULINK ~ Version 2.2, Natick, MA, USA Thomas, B. (1991). A New PID Parameter Tuning Method for Indus Report E 91-16, Control Engineering Laboratory, Presented on IFAC Symposium on Design of Control Systems, Zurich, Switzerland ial Applications, Tomié, K. (1997) Povecanje robusnosti odredivanja parametara samopodesivog PID regulatora (in Croatian), Graduation Thesis No. 1017, Dept. of Control and Comp. Eng. in Automation, FEC, University of Zagreb, Zagreb, Croatia7. Literature my [73] [74] (75] [76] 94 Umland, J.W,, Safiuddin, M. (1990). Magnitude and Symmetric Optimum Criterion for the Design of Linear Control Systems: What Is It and How Does It Compare with the Others?, IBEE Trans. On Ind. App., Vol. 26(3), pp. 489-497 Voda, A.A., Landau, LD., (1995). A Method for the Auto-calibration of PID Controllers, Automatica, Vol. 31(1), pp. 41-53 Vranéié, D, (1997). Design of Anti-Windup and Bumpless Transfer Protection, Doctoral thesis, Univ. of Ljubljana, Slovenia Wang, QG, Hang, C.C, Qiang, B. (1999) A Technique for Frequency Response Identification from Relay Feedback, IEEE Trans. On Cont, Sys, Tech., Vol. 7(1), pp. 122- 128. Watanabe, K., Ito, M, (1981). A Process-Model Control for Linear Systems with Delay, IEEE Trans. on Auto. Control, Vol. 26(6), pp. 1261-1269. Zhwang, M., Atherton, D.P. (1993). Automatic tuning of optimum PID controllers, PROC.-D, Vol. 140(3), pp. 216-224