Optimal PI and PID Parameters for a Batch of Benchmark Process Models Representative for the Process Industry

This report presents a large number of optimal PI and PID parameters for a batch of 134 benchmark process models representative for the process industry. This information can e.g. be used as a reference for other controller design methods. The optimal parameters have been derived using the MATLAB®-based software called SWORD, which determines the PI or PID controller that gives the best load disturbance performance given some closed-loop robustness. The performance measure used here is the integrated absolute error during a step disturbance on the process input, and the robustness constraints are given by upper limits on maximum sensitivity and complementary sensitivity. It has previously been shown that SWORD can be used to find near-optimal controllers also with respect to an additional noise sensitivity constraint. A controller design method based on this finding gives a set of PI and PID controllers all with the same robustness, but instead with a trade-off between performance and noise sensitivity. Five such sets of controllers are presented here for process models with varying dynamics. There are also a large number of optimal, unfiltered, SWORD PI and PID parameters presented, and related to four different robustness values. All data has been collected in tables which are given at the end of this report. The same tables have been collected in MATLAB® data files, Excel spreadsheets, as well as in a tex-file.