Handbook of PI and PID controller tuning rules / Aidan O'Dwyer.

Preface; Contents; Chapter 1 Introduction; 1.1 Preliminary remarks; 1.2 Structure of the book; References; Chapter 2 Controller Architecture; 2.1 Introduction; 2.2 PI controller structures; 2.3 PID controller structures; 2.3.1 Ideal PID controller structure and its variations; 2.3.2 Classical PID controller structure and its variations; 2.3.3 Non-interacting PID controller structure and its variations; 2.3.4 Other PID controller structures; 2.3.5 Comments on the PID controller structures; 2.4 Process modelling; 2.5 Organisation of the tuning rules; References

Chapter 3 Tuning Rules for PI Controllers3.1 FOLPD model Gm(s); 3.1.1 Ideal controller; 3.1.2 Ideal controller in series with a first order filter; 3.1.3 Ideal controller in series with a second order filter; 3.1.4 Controller with set-point weighting; 3.1.5 Controller with proportional term acting on the output; 3.2 Non-model specific; 3.2.1 Ideal controller; 3.2.2 Controller with set-point weighting; 3.3 IPD model; 3.3.1 Ideal controller; 3.3.2 Ideal controller in series with a first order filter; 3.3.3 Controller with set-point weighting U(s)

3.3.4 Controller with proportional term acting on the output3.4 FOLIPD model; 3.4.1 Ideal controller; 3.4.2 Controller with set-point weighting U(s); 3.5 SOSPD model; 3.5.1 Ideal controller; 3.5.2 Controller with set-point weighting; 3.6 SOSIPD model
repeated pole; 3.6.1 Controller with set-point weighting; 3.7 SOSPD model with a positive zero; 3.7.1 Ideal controller; 3.8 Third order system plus time delay model; 3.8.1 Ideal controller; 3.8.2 Controller with set-point weighting; 3.8.3 Third order lag plus time delay (TOLPD) model; 3.9 Unstable FOLPD model; 3.9.1 Ideal controller

3.10 Unstable SOSPD model (one unstable pole)3.10.1 Ideal controller; 3.11 Delay model; 3.11.1 Ideal controller; 3.12 General model with integrator; 3.12.1 Ideal controller; References; Chapter 4 Tuning Rules for PID Controllers; 4.1 FOLPD model; 4.1.1 Ideal controller; 4.1.2 Ideal controller in series with a first order lag; 4.1.3 Ideal controller in series with a second order filter; 4.1.4 Ideal controller with weighted proportional term; 4.1.5 Ideal controller with first order filter and set-point weighting; 4.1.6 Controller with filtered derivative Gc(s) = Kc

4.1.7 Classical controller 1 Gc (s) = K,4.1.8 Series controller (classical controller 3) Gc(s) = Kc; 4.1.9 Classical controller 4 Gc(s) = Kc 1 + -Ts1; 4.1.10 Non-interacting controller 1 U(s) = Kc; 4.1.11 Non-interacting controller 2a U(s) = Kc; 4.1.12 Non-interacting controller 2b U(s) =; 4.1.13 Non-interacting controller based on the two degree of freedom structure; 4.1.14 Non-interacting controller 4 U(s) = K(; 4.1.15 Non-interacting controller 6 (I-PD controller); 4.1.16 Industrial controller U(s) = Kc 1+T; s.; 4.2 Non model specific; 4.2.1 Ideal controller