Benchmark for PID control based on the Boiler Control Problem

This paper describes the benchmark proposed for the IFAC Conference on Advances in PID Controllers (PID'12) at the end of july 2011. It is expected that this benchmark allows researchers to test their recent developments in the design of PID controllers. Two approaches to the boiling process were provided; the first ready to test a multivariable PID controller and the second ready to test PID controller, both with or without feedforward. Nevertheless, the boiler control systems described in this paper are ready to test other multivariable control strategies. The full documentation about the benchmark was linked from the website PID'12 and will remain in www.dia.uned.es/~fmorilla/benchmarkPID2012.