PID 直接综合法.pptVIP

Figure 12.8. Comparison of set-point responses (top) and disturbance responses (bottom) for Example 12.4. The responses for the Chen and Seborg and integrator approximation methods are essentially identical. Chapter 12 On-Line Controller Tuning Controller tuning inevitably involves a tradeoff between performance and robustness. Controller settings do not have to be precisely determined. In general, a small change in a controller setting from its best value (for example, ±10%) has little effect on closed-loop responses. For most plants, it is not feasible to manually tune each controller. Tunin