Book of Abstracts

European Congress of Chemical Engineering (ECCE-6)

Copenhagen, 16-20 September 2007

Design of PID Controller Cascaded with Filter for First

Order Time Delay Process
M. Shamsuzzoha*, Moonyong Lee
School of Chemical Engineering and Technology, Yeungnam University,
Kyongsan, 712-749, Korea (*smzoha2002@hotmail.com)

Abstract
The majority of controllers used in the process industries are still proportional,
integral, and derivative (PID). There are many reasons for this, including the fact that
they are well understood by many industrial operational, technical, and maintenance
individuals, and, in many applications, the fact that a properly designed and well-
tuned PID controller meets or exceeds the control objectives. Although advance
control techniques such as model predictive control can provide significant
improvements, a PID controller that is properly designed and tuned has proved to be
satisfactory for the vast majority of industrial control loop.
The well-known internal model control (IMC) PID rules have the advantage that a
clear tradeoff between closed-loop performance and robustness to model inaccuracies
is achieved with a single tuning parameter. The reported literatures show that IMC-
PID provides good setpoint tracking but very sluggish disturbance response for tuning
the process with a small time-delay/time-constant ratio. However, for many process
control applications, disturbance rejection is much more important than setpoint
tracking. Therefore, controller design that emphasizes disturbance rejection rather
than setpoint tracking, is an important design problem that has received renewed
interest recently.
Recently Skogestad, (2003) proposed a rule for modification of the integral terms to
improve disturbance rejection for integrating processes and also proposed the simple
analytical rules for the model reduction to obtain a model in this form. Chen and
Seborg, (2002) proposed a design method for PID controllers based on the direct
 M. Shamsuzzoha et al.
synthesis approach. Some of the workers (Lee et al. 1998; and Horn et al. 1996)
proposed the same kind of lead lag filter to resolve this problem, but still it has lack of
consistency in result.
Therefore, in this article, we have proposed an analytical tuning method for the PID
controller cascaded with a lead/lag filter for the FOPDT process based on the IMC
design principle. The controller is designed for the disturbance rejection and two-
degree-of-freedom control structure is used to slacken the overshoot in the set-point
response. The simulation study shows that the proposed design method provides
better disturbance rejection than the conventional PID design methods when the
controllers are tuned to have the same degree of robustness by the measure of
maximum sensitivity (Ms). A single tuning parameter closed-loop time constant (λ)
guideline is provided for several different robustness levels.
Keywords: PID Controller Tuning, First Order Plus Dead Time Process, Disturbance
Rejection, First Order Lead/Lag, Filter, Two-Degree-of-Freedom Controller