Abstract :
The benchmark testing of the autotuning performance characteristics of three controllers is reported. The controllers are two commercial single-loop proportional integral-derivative (PID) controllers, the SattControl relay feedback autotuner and the Foxboro EXACT self-tuning controller, and a refined Ziegler-Nichols prototype PID controller autotuned by means of the cross-correlation method. A novel microcontroller-based process simulator has been used to simulate several generic processes for the benchmark tests. Quantitative results based on the integral squared error of the transient responses are used to contrast the relative performance of the autotuning controllers in the presence of setpoint change, static load disturbance, and measurement noise. Another performance measure, namely the retuning time, is used to compare performance.<>
Keywords :
control system analysis computing; controllers; digital simulation; performance evaluation; self-adjusting systems; three-term control; transient response; EXACT; Foxboro; PID controller; SattControl; Ziegler-Nichols; autotuning; cross-correlation; load disturbance; performance measure; relay feedback autotuner; self-tuning controller; setpoint; three term control; transient responses; Benchmark testing; Error correction; Feedback; Noise measurement; Pi control; Proportional control; Prototypes; Relays; Three-term control; Time measurement;
