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PID Kickoff
(IMC) [12] and direct synthesis [13], offer improvements over
earlier tuning methods. Tuning rules also exist for unstable
processes [14] as well as for tuning in the presence of plant-
A
ll of the book reviews in this issue are devoted to propor-
tional-integral-derivative (PID) control, which is the focus of model mismatch [15].
this issue’s special section. We bring you reviews of four books. Despite the numerous approaches available for controller
The book by O’Dwyer provides encyclopedic coverage of PID tuning, surveys indicate that poorly tuned control loops are
tuning rules developed over the past half-century. Next, the abundant in industry [16]. In fact, some control loops are not
book by Silva, Datta, and Bhattacharyya focuses on PID control properly tuned when they are implemented, while other
of delay systems of the type considered by Ziegler and Nichols. loops are not updated sufficiently often [16]. This situation is
The third review discusses an edited volume of papers cover- motivation for O’Dwyer’s book, which provides a compre-
ing a broad range of topics. Finally, the recent book by Åström hensive summary of PI and PID controller tuning relations
and Hägglund, which is effectively the third edition of their clas- published over the last six decades. Special attention is given
sic work on PID controllers, is reviewed. to the use of a consistent notation for these tuning methods.
As the associate editor for book reviews, I am continually
looking for new books to review. If you are the author of a CONTENTS OF THE BOOK
recently published or soon-to-be-released book relating to Handbook of PI and PID Controller Tuning Rules is structured into
any aspect of systems and control, please contact me. five chapters and two appendices. Chapter 1 provides a general
My goal is to make this department as inclusive as possi- introduction to the topic, while Chapter 2 presents background
ble, covering everything from monographs and textbooks to material needed for using the controller tuning tables presented
popular books. I encourage suggestions for books to be in Chapters 3 and 4. The book concludes in Chapter 5 with a
reviewed as well as volunteers to review books. discussion of performance and robustness issues. A more
Scott Ploen detailed description of the contents of the book is given below.
sploen@grover.jpl.nasa.gov Chapter 2 presents PI and PID controller structures that
appear in the literature as well as in process control equipment.
A list of process models with time delay provides the founda-
tion for defining the tuning rules in the remainder of the book.
Handbook of PI The controller tuning rules for PI and PID controllers are
and PID Controller presented in Chapters 3 and 4, respectively. Before a controller
Tuning Rules can be tuned, it is necessary to specify the structure of the con-
troller as well as the form of the model used to represent the
BY AIDAN O’DWYER
dynamic response of the controlled variables. Once this infor-
The first controllers with propor- mation is determined, the reader can compute tuning parame-
tional, integral, and derivative ters using the formulas presented in Chapters 3 and 4. These
(PID) feedback control action chapters contain a total of 112 tables.
became commercially available Analytical calculations are provided in Chapter 5 for gain
during the 1930s. The 1940s saw and phase margins of PI/PID controllers when the process
widespread acceptance in indus- model consists of a first-order plus time-delay transfer func-
Imperial College Press, try of pneumatic PID controllers, tion. These calculations are graphically illustrated for several
London, 2003, 392 pp.,
and their electronic counterparts tuning methods and varying ratios of the time delay to the
US$77.00
ISBN 1-8609-4342-X entered the market in the 1950s. plant time constant. The results from this chapter are taken
Digital hardware has been rou- from work of the author [17], [18].
tinely used since the 1980s with significant impact on process
control. Even several decades after three-mode controllers CONTRIBUTION OF THE TEXT
were introduced, the vast majority of controllers used in the The summary of controller tuning methods and the reference
chemical process industry are based on PI/PID models [1]. The list are comprehensive. The core information of the book is
popularity of these controllers has led to research on tuning mostly provided in table form. Unfortunately, little back-
methods, resulting in hundreds of publications on this topic ground material is presented on the ideas behind the con-
[2]–[9]. Ziegler-Nichols tuning relations [10] and Cohen-Coon troller tuning methods; instead, the reader is referred to the
tuning rules [12] are among the earliest published methods. relevant references. Overall, the emphasis is on summarizing
Tuning relations based on error criteria [7], as well as more methods, with little information given on the advantages and
recent model-based tuning rules such as internal model control disadvantages of different techniques.
PID Control: New guide for academic researchers and practitioners, a source for
Identification and new ideas, and a channel for enabling contact among PID con-
trol researchers. Each chapter is consistently structured with a
Design Methods description of learning objectives, presentation of background
BY MICHAEL A. JOHNSON material, theoretical development, demonstrations through case
AND MOHAMMAD H. MORADI studies involving simulated or experimental examples, and
individual references for each chapter.
Despite significant strides in the
development of advanced con- CONTENTS OF THE BOOK
trol schemes over the past two Following a presentation of background material, the book is
decades, the classical proportion- devoted to describing methods that involve increasing
Springer, Berlin, 2005,
al-integral-derivative (PID) con- amounts of model information and sophistication. The main
US$129.00
ISBN 1-8523-3702-8 troller and its variants remain categories are:
the controllers of choice in many » model-free methods, which do not rely on explicit identifi-
industrial applications. While the cation of significant model information
computational capability of modern-day control implementa- » nonparametric model methods, which involve identifying
tion environments continues to increase, PID controllers model points of a nonparametric model, such as a
remain an engineer’s preferred choice because of their structur- frequency response
al simplicity, reliability, and the favorable ratio between per- » data-intensive methods, which lie in between nonparamet-
formance and cost. Beyond these benefits, PID control offers ric and parametric approaches; these methods include
simplified dynamic modeling, lower user-skill requirements, subspace methods, which depend on significant process
and minimal development effort, which are issues of substan- data, as well as fuzzy logic methods
tial importance to engineering practice [3]. » parametric model methods, where the starting point is a
PID Control: New Identification and Design Methods explores known transfer function model.
the continuing fascination with PID control. As noted by the Chapters 1 and 2 provide background material on PID con-
editors in the preface, the book was conceived as a set of chap- trol that is meant to serve as a foundation for the ensuing
ters on new ideas being investigated, with a more appropriate chapters. Chapter 1, authored by M.A. Johnson, introduces the
title being “some new identification and design methods.” The basic technology of PID control. Implementation aspects of
goal is not to provide comprehensive coverage of all new PID control, such as bumpless forms that minimize derivative
developments in the field but rather to highlight some promis- kick, are described. The chapter also includes descriptions of
ing novel directions. selected commercial implementations of PID control. Since
The text is an edited volume containing 13 contributed chap- very little of this information is presented in standard texts, I
ters from 18 authors. The authors’ intended use of the book is as deem this presentation as particularly useful. Chapter 2, coau-
a textbook for advanced courses, a reference and self-study thored by M.A. Johnson and M.H. Moradi, focuses on PID
REVIEWER INFORMATION
Sebastián Dormido graduated from the Universidad Com-
plutense of Madrid in 1968 and received the Ph.D. degree in
control engineering from the Universidad del Pais Vasco in
1971. From 1968–1975, he was with the Department of Com-
puter Science and Automatic Control of the Universidad
Complutense and Universidad del Pais Vasco. From
1975–1982, he was with the Facultad de Ciencias Físicas of the
Universidad Complutense de Madrid, and, in 1982, he joined
the Facultad de Ciencias of the Universidad Nacional de Edu-
cación a Distancia (UNED). In 1982, he became head of the
Department of Computer Science and Automatic Control. His
research interests include process control, predictive control,
robust control, object-oriented languages for modeling and
simulation of hybrid systems, and control education with
special emphasis on remote and virtual labs. He has super-
vised 25 doctoral theses and coauthored more than 180 con-
ference and journal papers. Since 2002, he has served as
president of the Spanish Association of Automatic Control
(CEA), where he has promoted the relationship between
academia and industry.
REFERENCES
[1] J.G. Ziegler and N.B. Nichols, “Optimum settings for automatic con-
trollers,” Trans. ASME, vol. 64, pp. 759–768, 1942.