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This paper proposes a multi loop decentralized control strategy for the control of a wastewater treatment plant based on an Activated Sludge (ASP) model. The ASP is a described by means of a nonlinear model and results on a Two-Input Two-Output multivariable system. Even though advanced control strategies have been presented in the literature, the proposal(More)
The aim of this paper is to present a robust tuning method of two-degree-of-freedom (2DoF) proportional integral (PI) controllers for integrating controlled processes. This is based on the use of a model reference optimization procedure with servo and regulatory closed-loop transfer functions targets. The designer is allowed to deal with the(More)
Weighted sensitivity IMC PID tuning a b s t r a c t This article presents an H ∞ design that alleviates some difficulties with standard Internal Model Control (IMC), while still obeying the same spirit of simplicity. The controller derivation is carried out analytically based on a weighted sensitivity formulation. The corresponding frequency weight, chosen(More)
This communication addresses the tuning of PI and PID controllers on the basis of the IMC approach. The tuning is based upon a first order plus time delay (FOPTD) model and aims to achieve a step response specification. It is analyzed that by using the IMC approach we get a PI or a PID depending on the kind of approximation used for the time delay term.(More)
The aim of this paper is to present a robust tuning method for two-degree-of-freedom (2DoF) proportional integral (PI) controllers for inverse response controlled processes modeled by a second-order plus a right-half plane zero (SOPRHPZ) transfer function. This is based on the use of a servo and regulatory control closed-loop model reference optimization(More)
— A design approach for Two-Degree-of-Freedom (2-DOF) PID controllers within a cascade control configuration that guarantees smooth control is presented in this paper. The rationale of operation associated to both, the inner and outer controllers, determines the need of good performance for disturbance attenuation (regulation) as well as set-point following(More)
This paper presents an analytically deducted procedure for tuning two-degree-of-freedom proportional integral (PI) controllers for first-order-plus-dead-time (FOPDT) controlled process. The equations incorporate a design parameter, which relates the feedback control systempsilas time constant, with the controlled process time constant. The design procedure(More)
This paper analyzes optimal controller settings for controllers with PID structure. The analysis is conducted from the point of view of the operating mode (either servo or regulation mode) of the control loop and tuning mode of the controller. It is well known that, specially for optimization based settings, the performance of the control loop is defined in(More)