Derivative backoff: The other saturation problem for PID controllers

Alfred Theorin; Tore Hägglund

doi:10.1016/j.jprocont.2015.06.008

Derivative backoff: The other saturation problem for PID controllers

Research output: Contribution to journal › Article › peer-review

Abstract

tThe PID controller is by far the most common controller, and to ensure good behavior under all circumstances, a PID implementation must consider many practical aspects such as integrator windup,derivative kick, and bumpless parameter and mode changes. In this paper, an entirely new issue for the derivative part is introduced and has been named derivative backoff. It occurs when the process value measurement saturates and is a general issue that affects all PID implementations. Derivative backoff is described in detail and it is shown that it can cause considerable, undesired, effects on industrially relevant processes even when they are controlled by well-tuned PID controllers. An anti-backoff strategy for PID controllers with integral action is proposed and evaluated, and a simple patch for existing PID implementations is presented. Possible strategies for PID controllers without integral action are also discussed.

Original language	English
Pages (from-to)	155-160
Journal	Journal of Process Control
Volume	33
DOIs	https://doi.org/10.1016/j.jprocont.2015.06.008
Publication status	Published - 2015

Subject classification (UKÄ)

Other Engineering and Technologies

Free keywords

Control algorithms
Derivative action
PID control
PID controllers
Derivative backoff

Access to Document

10.1016/j.jprocont.2015.06.008

LCCC
Holmqvist, A. (Researcher), Andersson, N. (Researcher), Cervin, A. (Researcher), Mannesson, A. (Researcher), Gattami, A. (Researcher), Ghulchak, A. (Researcher), Papadopoulos, A. V. (Researcher), Rantzer, A. (Researcher), Robertsson, A. (Researcher), Sootla, A. (Researcher), THEORIN, A. (Researcher), Bernhardsson, B. (Researcher), Olofsson, B. (Researcher), Wittenmark, B. (Researcher), Grussler, C. (Researcher), Johnsson, C. (Researcher), MADJIDIAN, D. (Researcher), Johannesson, E. (Researcher), Magnusson, F. (Researcher), Ståhl, F. (Researcher), Como, G. (Researcher), Chasparis, G. (Researcher), Turesson, G. (Researcher), Dressler, I. (Researcher), Åkesson, J. (Researcher), Cho, J. H. (Researcher), Årzén, K.-E. (Researcher), Åström, K. J. (Researcher), Sou, K. C. (Researcher), Mårtensson, K. (Researcher), Berntorp, K. (Researcher), Soltesz, K. (Researcher), Lessard, L. (Researcher), Hast, M. (Researcher), Rönn, M. (Researcher), Ansbjerg Kjær, M. (Researcher), Maggio, M. (Researcher), Kristalny, M. (Researcher), Garpinger, O. (Researcher), From, P. J. (Researcher), Larsson, P.-O. (Researcher), Giselsson, P. (Researcher), Johansson, R. (Researcher), Hägglund, T. (Researcher), Vladimerou, V. (Researcher), Romero Segovia, V. (Researcher), Aurelius, A. (Researcher), Cedersjö, G. (Researcher), Bür, K. (Researcher), Dellkrantz, M. (Researcher), Du, M. (Researcher), Amani, P. (Researcher), Larsson, R. (Researcher), Tärneberg, W. (Research student), Li, Z. (Researcher), Yin, L. (Researcher), Tufvesson, F. (Researcher), Höst, S. (Researcher), Nilsson, B. (Researcher), Stenström, S. (Researcher), Andersson, J. A. (Researcher), Diehl, S. (Researcher), Dürango, J. (Researcher), Ghazaei Ardakani, M. (Researcher), Forsberg, P.-O. (Researcher), Bengtsson, F. (Researcher), Jörntell, H. (Researcher), Arévalo, C. (Researcher), Führer, C. (Researcher), Andersson, C. (Researcher), Mohammadi, F. (Researcher), Ödling, P. (Researcher), Andersson, M. (Researcher), Kihl, M. (Researcher) & Tunestål, P. (Researcher)
2008/07/01 → 2018/06/30
Project: Research
PID Control
Robertsson, A. (Researcher), THEORIN, A. (Researcher), Bernhardsson, B. (Researcher), Berner, J. (Researcher), Åström, K. J. (Researcher), Hast, M. (Researcher), Garpinger, O. (Researcher), Larsson, P.-O. (Researcher), Hägglund, T. (Researcher), Romero Segovia, V. (Researcher) & Soltesz, K. (PI)
1900/01/01 → 2022/05/01
Project: Research
PICLU
Andersson, N. (Researcher), Borg, N. (Researcher), Lindholm, A. (Researcher), Robertsson, A. (Researcher), THEORIN, A. (Researcher), Bernhardsson, B. (Researcher), Johnsson, C. (Researcher), Åkesson, J. (Researcher), Åström, K. J. (Researcher), Soltesz, K. (Researcher), Hast, M. (Researcher), Stark, O. (Researcher), Garpinger, O. (Researcher), Larsson, P.-O. (Researcher), Giselsson, P. (Researcher), Hägglund, T. (Researcher) & Romero Segovia, V. (Researcher)
1900/01/01 → 2016/12/31
Project: Research

Cite this

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title = "Derivative backoff: The other saturation problem for PID controllers",

abstract = "tThe PID controller is by far the most common controller, and to ensure good behavior under all circumstances, a PID implementation must consider many practical aspects such as integrator windup,derivative kick, and bumpless parameter and mode changes. In this paper, an entirely new issue for the derivative part is introduced and has been named derivative backoff. It occurs when the process value measurement saturates and is a general issue that affects all PID implementations. Derivative backoff is described in detail and it is shown that it can cause considerable, undesired, effects on industrially relevant processes even when they are controlled by well-tuned PID controllers. An anti-backoff strategy for PID controllers with integral action is proposed and evaluated, and a simple patch for existing PID implementations is presented. Possible strategies for PID controllers without integral action are also discussed.",

keywords = "Control algorithms, Derivative action, PID control, PID controllers, Derivative backoff",

author = "Alfred Theorin and Tore H{\"a}gglund",

year = "2015",

doi = "10.1016/j.jprocont.2015.06.008",

language = "English",

volume = "33",

pages = "155--160",

journal = "Journal of Process Control",

issn = "1873-2771",

publisher = "Elsevier",

}

TY - JOUR

T1 - Derivative backoff: The other saturation problem for PID controllers

AU - Theorin, Alfred

AU - Hägglund, Tore

PY - 2015

Y1 - 2015

N2 - tThe PID controller is by far the most common controller, and to ensure good behavior under all circumstances, a PID implementation must consider many practical aspects such as integrator windup,derivative kick, and bumpless parameter and mode changes. In this paper, an entirely new issue for the derivative part is introduced and has been named derivative backoff. It occurs when the process value measurement saturates and is a general issue that affects all PID implementations. Derivative backoff is described in detail and it is shown that it can cause considerable, undesired, effects on industrially relevant processes even when they are controlled by well-tuned PID controllers. An anti-backoff strategy for PID controllers with integral action is proposed and evaluated, and a simple patch for existing PID implementations is presented. Possible strategies for PID controllers without integral action are also discussed.

AB - tThe PID controller is by far the most common controller, and to ensure good behavior under all circumstances, a PID implementation must consider many practical aspects such as integrator windup,derivative kick, and bumpless parameter and mode changes. In this paper, an entirely new issue for the derivative part is introduced and has been named derivative backoff. It occurs when the process value measurement saturates and is a general issue that affects all PID implementations. Derivative backoff is described in detail and it is shown that it can cause considerable, undesired, effects on industrially relevant processes even when they are controlled by well-tuned PID controllers. An anti-backoff strategy for PID controllers with integral action is proposed and evaluated, and a simple patch for existing PID implementations is presented. Possible strategies for PID controllers without integral action are also discussed.

KW - Control algorithms

KW - Derivative action

KW - PID control

KW - PID controllers

KW - Derivative backoff

U2 - 10.1016/j.jprocont.2015.06.008

DO - 10.1016/j.jprocont.2015.06.008

M3 - Article

SN - 1873-2771

VL - 33

SP - 155

EP - 160

JO - Journal of Process Control

JF - Journal of Process Control

ER -

Derivative backoff: The other saturation problem for PID controllers

Abstract

Subject classification (UKÄ)

Free keywords

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Projects

LCCC

PID Control

PICLU

Cite this