Model-Reference Robust Tuning of PID Controllers

  • Victor M. Alfaro
  • Ramon Vilanova

Part of the Advances in Industrial Control book series (AIC)

Table of contents

  1. Front Matter
    Pages i-xix
  2. Víctor M. Alfaro, Ramon Vilanova
    Pages 1-5
  3. Víctor M. Alfaro, Ramon Vilanova
    Pages 7-19
  4. Víctor M. Alfaro, Ramon Vilanova
    Pages 21-28
  5. Víctor M. Alfaro, Ramon Vilanova
    Pages 29-34
  6. Víctor M. Alfaro, Ramon Vilanova
    Pages 35-40
  7. Víctor M. Alfaro, Ramon Vilanova
    Pages 41-64
  8. Víctor M. Alfaro, Ramon Vilanova
    Pages 65-77
  9. Víctor M. Alfaro, Ramon Vilanova
    Pages 79-91
  10. Víctor M. Alfaro, Ramon Vilanova
    Pages 93-103
  11. Víctor M. Alfaro, Ramon Vilanova
    Pages 105-127
  12. Víctor M. Alfaro, Ramon Vilanova
    Pages 129-168
  13. Back Matter
    Pages 169-192

About this book


This book presents a unified methodology for the design of PID controllers that encompasses the wide range of different dynamics to be found in industrial processes. This is extended to provide a coherent way of dealing with the tuning of PID controllers. The particular method at the core of the book is the so-called model-reference robust tuning (MoReRT), developed by the authors. MoReRT constitutes a novel and powerful way of thinking of a robust design and taking into account the usual design trade-offs encountered in any control design problem.

The book starts by presenting the different two-degree-of-freedom PID control algorithm variations and their conversion relations as well as the indexes used for performance, robustness and fragility evaluation:the bases of the proposed model. Secondly, the MoReRT design methodology and normalized controlled process models and controllers used in the design are described in order to facilitate the formulation of the different design problems and subsequent derivation of tuning rules. Inlater chapters the application of MoReRT to over-damped, inverse-response, integrating and unstable processes is described. The book ends by presenting three possible extensions of the MoReRT methodology, thereby opening the door to new research developments. In this way, the book serves as a reference and source book for academic researchers who may also consider it as a stimulus for new ideas as well as for industrial practitioners and manufacturers of control systems who will find appropriate advanced solutions to many application problems.


Control Design Control of Integrating Processes Control of Inverse-response Processes Control of Over-damped Processes Control of Unstable Processes Industrial Control MoReRT Model-reference Robust Tuning PID Control

Authors and affiliations

  • Victor M. Alfaro
    • 1
  • Ramon Vilanova
    • 2
  1. 1.School of Electrical EngineeringUniversidad de Costa RicaSan JoséCosta Rica
  2. 2.School of EngineeringUniversitat Autònoma de BarcelonaBarcelonaSpain

Bibliographic information

  • DOI
  • Copyright Information Springer International Publishing Switzerland 2016
  • Publisher Name Springer, Cham
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-319-28211-4
  • Online ISBN 978-3-319-28213-8
  • Series Print ISSN 1430-9491
  • Series Online ISSN 2193-1577
  • Buy this book on publisher's site