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<html><head><title>Introduction to PID Autotuning (AutotunerPID Toolkit)</title>
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<td valign=baseline bgcolor="#ffe4b0"><b>AutotunerPID Toolkit</b></td>
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<h1>Introduction to PID Autotuning</h1>
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<tr>
<td valign="top"><a href="autopid_int.html#t1">What is an Autotuner</a><br></td>
<td valign="top">Introduction to the PID Autotuning<br></td>
<tr>
<td valign="top"><a href="autopid_in2.html">The ISA-PID Regulator</a><br></td>
<td valign="top" width=600>The structure of the ISA-PID regulator<br></td>
<tr>
<td valign="top" width=300><a href="autopid_in3.html">Process Identification</a><br></td>
<td valign="top" width=600>How to obtain a "description" of the plant
represented by a simple model or by a set of characteristics<br></td>
<tr>
<td valign="top" width=300><a href="autopid_in4.html">Synthesis Method</a><br></td>
<td valign="top" width=600>How to compute the parameters of the PID regulator
from the available description of the plant<br></td>
</table>
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<td bgcolor="#ffe4b0"><b>Note </b>
This introduction to autotuning has been extracted from the IFAC Professional Brief
<em>Hands-on PID Autotuning: a Guide to Better Utilisation </em> (A. Leva, C. Cox, A. Ruano), 2002.</td>
</tr></table></ul>
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<p><font size=+2 color="#990000"><b>What is an Autotuner</b></font><br>
<p>An autotuner is something capable of computing the parameters of a regulator connected to a plant
(i.e. <em>tuning</em> that regulator) automatically and, possibly, without any user interaction apart
from initiating the operation.</p>
<p>The best way to understand autotuners is to analyze how a PID regulator may be manually tuned by a
human. The basic steps of a tuning process may be summarized as follows</p>
<ul>
<li><strong>observing the process behavior</strong>, eventually stimulating it somehow and turning this
knowledge into a <em>description</em> of the process behavior</li>
<li><strong>establishing the desired closed loop behavior</strong> on the basis of the obtained process
description;</li>
<li><strong>computing the regulator parameters</strong> in order to achieve the desired closed loop behavior.</li>
</ul>
<p>Formalizing these steps establishes a <em>tuning method</em>. An <em>autotuner</em> is then an implementation
of a tuning method capable of running <em>automatically</em>.</p>
<p>The "description" of the process may be obtained in two ways:
<ul>
<li>the first approach identifies a model of the process from the data, where <em>model</em> means
something that can be simulated and that captures the process dynamics precisely enough to allow
forecasting once the regulator is tuned (<em>model based autotuner</em>);</li>
<li>the other approach is to employ the process data immediately for the subsequent tuning (<em>non model based
autotuner</em>). The relevant fact is that these representations cannot be simulated. Non model based autotuners are also identified as
<em>characteristics based</em> autotuners.
</ul>
</p>
<p>Tuning rules can be constructed in several ways:
<ul>
<li>choosing the regulator parameters so that the expected closed loop behavior (forecasted using the
process model) is as similar as possible to that of a reference model (<em>model based, model
following autotuner</em>);</li>
<li>computing the regulator parameters so that some time or frequency domain properties are satisfied
by the closed loop system (<em>model based, characteristics following autotuner</em>).</li>
</ul>
<br>
<p><table bgcolor="#ffe4b0" border=0 width="100%" cellpadding=0 cellspacing=0><tr valign=top><td align=left width=20><a href="autopid_pr3.html"><img src="b_prev.gif" alt="Previous page" border=0 align=bottom></a> </td><td align=left> Reference</td><td> </td><td align=right>The ISA-PID Regulator </td><td align=right width=20><a href="autopid_in2.html"><img src="b_next.gif" alt="Next page" border=0 align=bottom></a></td></tr></table>
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