Estudio comparativo de algoritmos de auto-ajuste de controladores PID. Resultados del Benchmark 2010-2011 del Grupo de Ingeniería de Control de CEA

In this paper three PID auto-tuning algorithms which are mainly focused on the disturbance rejection problem are compared. The algorithms differ in both the experiments carried out to obtain information of the process dynamic and the methods for calculating the controller parameters. The algorithms were presented in the 2010-2011 Match of the Control Engineering Group of CEA. The comparison is based on an evaluation methodology that takes into account the experimental phase as well as the closed loop performance during the control phase.