Tuning of PID Controllers Under SSOD Sampling Based on Tsypkin Method

A tuning procedure of PID controller for FOPTD processes in loops with Symmetric-Send-On-Delta (SSOD) sampling is proposed in this chapter. The tuning procedure is based on Tsypkin’s method, which takes into account the effect of high order harmonics. Customization to requirements specified in terms of robustness and magnitude of control action bumps produced by SSOD sampling is allowed. To facilitate the applicability of the tuning method a freely available Java tool integrating the tuning procedure is developed. Analysis of the extension of the tuning method to non-FOPTD models is provided. Besides, comments on the applicability of the method to loops with a Regular Quantization with Hysteresis (RQH) sampling strategy are provided.