The PID + p controller structure and its contextual autotuning

A previous paper addressed the “PI + p” controller (a PI augmented with an additional, stable pole) and demonstrated its advantages over standard PIs, particularly if tuned with a combined model-relay-based method along the “contextual” approach proposed in another recent work. This manuscript extends the scenario to the PID + p structure, with obvious meaning, and applies the contextual approach to its autotuning. Benchmark tests and a quite realistic simulation example support the proposal.

► We automatically tune a filtered real PID, i.e. a widely used controller structure.
► High-frequency control sensitivity roll-off saves actuators and favours robustness.
► The tuning procedure contextually provides a process model precise at the cutoff.
► The procedure is simple, reliable, and computationally lightweight.
► Benchmark tests and a quite realistic simulation test back up the proposal.