Process Modeling and PI/PID Controller Tuning
Robert W. Harrison, PE
ISA Life Fellow
5:00 p.m. ~ Food & Networking
6:00 p.m. ~ Presentation
Most Industrial processes can be modeled by a Second order plus dead time
system. However, this can be simplified by using a first order plus dead time
model to adequately determine the tuning coefficients for PI and PID
controllers. The process model parameters to be determined are:
• Process Gain - Kp
• Process Time Constant - Tp
• Process Dead Time - Td
Using the above parameters (Kp, TP, and TD) we will calculate the PI and
PID controller tuning coefficients:
• Proportional Gain - Kc
• Integral Time Constant - Ti
• Derivative Time Constant- Td
Using the same program we used to generate the process model, we will
setup the controllers and test the original process under closed loop control.
To evaluate our controller, we will use a built in performance monitor.
Robert Harrison received his BSEE from Purdue
University and his MSEE from the University of
Pennsylvania majoring in control systems and
computer Science. Bob then spent 38 years
developing control and data acquisition systems
in the process control and aerospace industries.
He also taught control systems at Cal State
Fullerton for 30 years. Bob retired from Boeing
North American where he was a Technical Fellow.
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