02

4
Chapter 2
Controller Architecture
2.1 Introduction
The ideal continuous time domain PID controller for a SISO process is expressed
in the Laplace domain as follows:

) s ( E ) s ( G ) s ( U
c
= (2.1)
with
) s T
s T
1
1 ( K ) s ( G
d
i
c c
+ + = (2.2)
and with
c
K = proportional gain,
i
T = integral time constant and
d
T =
derivative time constant. If =
i
T and 0 T
d
= (i.e. P control), then it is clear
that the closed loop measured value y will always be less than the desired value r
(for processes without an integrator term, as a positive error is necessary to keep
the measured value constant, and less than the desired value). The introduction of
integral action facilitates the achievement of equality between the measured
value and the desired value, as a constant error produces an increasing controller
output. The introduction of derivative action means that changes in the desired
value may be anticipated, and thus an appropriate correction may be added prior
to the actual change. Thus, in simplified terms, the PID controller allows
contributions from present controller inputs, past controller inputs and future
controller inputs.
Many variations of the PID controller structure have been proposed (indeed,
the PI controller structure is itself a subset of the PID controller structure). As
Tan et al. (1999a) suggest, one important reason for the non-standard structures
is due to the transition of the controllers from pneumatic implementation through
electronic implementation to the present microprocessor implementation. A
substantial number of the variations in the controller structures used may be
b720_Chapter-02 17-Mar-2009 FA
Chapter 2: Controller Architecture 5
summarised by controller structure supersets. In this book, nine such supersets
are specified, which allows a sensible restriction on the number of tables that
need to be detailed. The controller structures specified are detailed below.

1. The ideal PI controller structure:

|
|
.
|
\
|
+ =
s T
1
1 K ) s ( G
i
c c
(2.3)
2. The ideal PID controller structure:
|
|
.
|
\
|
+ + = s T
s T
1
1 K ) s ( G
d
i
c c
(2.4)
This controller structure has also been labelled the non-interacting controller
(McMillan, 1994), the ISA algorithm (Gerry and Hansen, 1987) or the
parallel non-interacting controller (Visioli, 2001). A variation of the
controller is labelled the parallel controller structure (McMillan, 1994).
s T
s T
1
K ) s ( G
d
i
c c
+ + = (2.5)
This variation has also been labelled the ideal parallel, non-interacting,
independent or gain independent algorithm.
The ideal PID controller structure is used in the following products:
(a) Allen Bradley PLC5 product (McMillan, 1994)
(b) Bailey FC19 PID algorithm (EZYtune, 2003)
(c) Fanuc Series 9030 and 9070 Independent Form PID algorithm
(EZYtune, 2003)
(d) Intellution FIX products (McMillan, 1994)
(e) Honeywell TDC3000 Process Manager Type A, non-interactive mode
product (ISMC, 1999)
(f) Leeds and Northrup Electromax 5 product (strm and Hgglund,
1988)
(g) Yokogawa Field Control Station (FCS) PID algorithm (EZYtune,
2003).

Handbook of PI and PID Controller Tuning Rules 6
3. Ideal controller in series with a first order lag:
1 s T
1
s T
s T
1
1 K ) s ( G
f
d
i
c c
+
|
|
.
|
\
|
+ + = (2.6)

4. Controller with filtered derivative:
|
|
|
|
.
|
\
|
+
+ + =
N
T
s 1
s T
s T
1
1 K ) s ( G
d
d
i
c c
(2.7)
This structure is used in the following products:

(a) Bailey Net 90 PID error input product with N = 10 (McMillan, 1994) and
FC156 Independent Form PID algorithm (EZYtune, 2003)
(b) Concept PIDP1 and PID1 PID algorithms (EZYtune, 2003)
(c) Fischer and Porter DCU 3200 CON PID algorithm with N = 8 (EZYtune,
2003)
(d) Foxboro EXACT I/A series PIDA product (in which it is an option
labelled ideal PID) (Foxboro, 1994)
(e) Hartmann and Braun Freelance 2000 PID algorithm (EZYtune, 2003)
(f) Modicon 984 product with 30 N 2 (McMillan, 1994; EZYtune,
2003)
(g) Siemens Teleperm/PSC7 ContC/PCS7 CTRL PID products with N = 10
(ISMC, 1999) and the S7 FB41 CONT_C PID product (EZYtune, 2003).

5. Classical controller: This controller is also labelled the cascade controller
(Witt and Waggoner, 1990), the interacting or series controller (Poulin and
Pomerleau, 1996), the interactive controller (Tsang and Rad, 1995), the
rate-before-reset controller (Smith and Corripio, 1997), the analog
controller (St. Clair, 2000) or the commercial controller (Luyben, 2001).
N
T
s 1
sT 1
s T
1
1 K ) s ( G
d
d
i
c c
+
+
|
|
.
|
\
|
+ = (2.8)
The structure is used in the following products:

(a) Honeywell TDC Basic/Extended/Multifunction Types A and B products
with N = 8 (McMillan, 1994)
(b) Toshiba TOSDIC 200 product with 10 N 33 . 3 (McMillan, 1994)
(c) Foxboro EXACT Model 761 product with N = 10 (McMillan, 1994)
(d) Honeywell UDC6000 product with N = 8 (strm and Hgglund, 1995)
(e) Honeywell TDC3000 Process Manager product Type A, interactive
mode with N = 10 (ISMC, 1999)
(f) Honeywell TDC3000 Universal, Multifunction and Advanced
Multifunction products with N = 8 (ISMC, 1999)
(g) Foxboro EXACT I/A Series PIDA product (in which it is an option
labelled series PID) (Foxboro, 1994).

A subset of the classical PID controller is the so-called series controller
structure, also labelled the interacting controller or the analog algorithm
(McMillan, 1994) or the dependent controller (EZYtune, 2003).
( )
d
i
c c
sT 1
s T
1
1 K ) s ( G +
|
|
.
|
\
|
+ = (2.9)

(a) Turnbull TCS6000 series product (McMillan, 1994)
(b) Alfa-Laval Automation ECA400 product (strm and Hgglund, 1995)
(c) Foxboro EXACT 760/761 product (strm and Hgglund, 1995).

A further related structure is one labelled the interacting controller (Fertik,
1975).
|
|
|
|
.
|
\
|
+
+
|
|
.
|
\
|
+ =
N
T
s 1
s T
1
s T
1
1 K ) s ( G
d
d
i
c c
(2.10)

(a) Bailey FC156 Classical Form PID product (EZYtune, 2003)
(b) Fischer and Porter DCI 4000 PID algorithm (EZYtune, 2003).
6. Generalised classical controller:
|
|
.
|
\
|
+ +
+ +
|
|
|
|
.
|
\
|
+
+ + =
2
2 f 1 f
2
2 f 1 f 0 f
d
d
i
c c
s a s a 1
s b s b b
s
N
T
1
s T
s T
1
1 K ) s ( G (2.11)
7. Two degree of freedom controller 1:
[ ]
[ ]
) s ( R
s
N
T
1
s T 1
s T
1
1 K ) s ( U
d
d
i
c
|
|
|
|
.
|
\
|
+

+ + = ) s ( Y
s
N
T
1
s T
s T
1
1 K
d
d
i
c
|
|
|
|
.
|
\
|
+
+ + (2.12)
This controller is also labelled the m-PID controller (Huang et al., 2000), the
ISA-PID controller (Leva and Colombo, 2001) and the P-I-PD (only P is
DOF) incomplete 2DOF algorithm (Mizutani and Hiroi, 1991).

This structure is used in the following products:

(a) Bailey Net 90 PID PV and SP product (McMillan, 1994)
(b) Yokogawa SLPC products with 1 = , 1 = , 10 N = (McMillan,
1994)
(c) Omron E5CK digital controller with 1 = and 3 N = (ISMC, 1999).

Notable subsets of this controller structure are:
) s ( Y
s
N
T
1
s T
s T
1
1 K ) s ( R
s T
1
1 K ) s ( U
d
d
i
c
i
c
|
|
|
|
.
|
\
|
+
+ +
|
|
.
|
\
|
+ = (2.13)
which is used in the following products:

(a) Allen Bradley SLC5/02, SLC5/03, SLC5/04, PLC5 and Logix5550
products (EZYtune, 2003)
(b) Modcomp product with N = 10 (McMillan, 1994).

) s ( Y s T
s T
1
1 K ) s ( R
s T
1
1 K ) s ( U
d
i
c
i
c
|
|
.
|
\
|
+ +
|
|
.
|
\
|
+ = (2.14)
Also labelled the PI+D controller structure (Chen, 1996) or the
dependent, ideal, non-interacting controller structure (Cooper, 2006a), it
is used in the following products:

(a) ABB 53SL6000 product (ABB, 2001)
(b) Genesis product (McMillan, 1994)
(c) Honeywell TDC3000 Process Manager Type B, non-interactive
mode product (ISMC, 1999)
(d) Square D PIDR PID product (EZYtune, 2003).
) s ( Y s T
s T
1
1 K ) s ( R
s T
1
K ) s ( U
d
i
c
i
c
|
|
.
|
\
|
+ +
|
|
.
|
\
|
= (2.15)

(a) Toshiba AdTune TOSDIC 211D8 product (Shigemasa et al., 1987)
(b) Honeywell TDC3000 Process Manager Type C non-interactive
mode product (ISMC, 1999).

( ) ) s ( Y K ) s ( Y ) s ( R ) s ( F
s a 1
s b 1
s
N
T
1
s T
s T
1
1 K ) s ( U
0
1 f
1 f
d
d
i
c

+
+
|
|
|
|
.
|
\
|
+
+ + =
,
4
5 f
3
4 f
2
3 f 2 f
4
5 f
3
4 f
2
3 f 2 f
s a s a s a s a 1
s b s b s b s b 1
) s ( F
+ + + +
+ + + +
= (2.16)

) s ( Y ) s ( F ) s ( R ) s ( F ) s ( U
2 1
= ,
[ ]
[ ] ( )
|
|
|
|
.
|
\
|
+

+
+
+

+ =
s
N
T
1
s T 1
s T 1 s T
1
1 K ) s ( F
d
d
i i
c 1
2
2 f 1 f
1 f
s a s a 1
s b 1
+ +
+
,
[ ]
[ ] [ ]
|
|
|
|
.
|
\
|
+

+

+ =
s
N
T
1
s T 1
s T
1
1 K ) s ( F
d
d
i
c 2
2
4 f 3 f
2 f
s a s a 1
s b 1
+ +
+

( )
s a 1
s b b K
5 f
4 f 3 f 0
+
+
(2.17)
Notable subsets of this controller structure are:

( )
|
|
.
|
\
|
(
+
+
|
|
.
|
\
|
+ = ) s ( Y
s N T 1
s T
1 ) s ( R
s T
1
1 K ) s ( U
d
d
i
c
(2.18)
Also labelled the reset-feedback controller structure (Huang et al., 1996),
it is used in the following products:

(a) Bailey Fisher and Porter 53SL6000 and 53MC5000 products (ISMC,
1999)
(b) Moore Model 352 Single-Loop Controller product (Wade, 1994).

( )
|
|
.
|
\
|
+
+
|
|
.
|
\
|
+ = ) s ( Y
s N T 1
s T 1
) s ( R
s T
1
1 K ) s ( U
d
d
i
c
(2.19)
Also labelled the industrial controller structure (Kaya and Scheib,
1988), it is used in the following products:

(a) Fisher-Rosemount Provox product with 8 N = (ISMC, 1999;
McMillan, 1994)
(b) Foxboro Model 761 product with 10 N = (McMillan, 1994)
(c) Fischer-Porter Micro DCI product (McMillan, 1994)
(d) Moore Products Type 352 controller with 30 N 1 (McMillan,
1994)
(e) SATT Instruments EAC400 product with 33 . 8 N = (McMillan, 1994)
(f) Taylor Mod 30 ESPO product with 7 . 16 N = (McMillan, 1994)
(g) Honeywell TDC3000 Process Manager Type B, interactive mode
product with 10 N = (ISMC, 1999).
) s ( Y
N
sT
1
sT 1
s T
1
1 K ) s ( R
s T
K
) s ( U
d
d
i
c
i
c
|
|
|
|
.
|
\
|
+
+
|
|
.
|
\
|
+ = (2.20)

(a) Honeywell TDC3000 Process Manager Type C, interactive mode
product with N = 10 (ISMC, 1999)
(b) Honeywell TDC3000 Universal, Multifunction and Advanced
Multifunction products with N = 8 (ISMC, 1999).
2.2 Comments on the PID Controller Structures
In some cases, one controller structure may be transformed into another; clearly,
the ideal and parallel controller structures (Equations 2.4 and 2.5) are very
closely related. It is shown by McMillan (1994), among others, that the
parameters of the ideal PID controller may be worked out from the parameters of
the series PID controller, and vice versa. The ideal PID controller is given in
Equation (2.22) and the series PID controller is given in equation (2.23).
|
|
.
|
\
|
+ + = s T
s T
1
1 K ) s ( G
dp
ip
cp cp
(2.22)
( )
ds
is
cs cs
sT 1
s T
1
1 K ) s ( G +
|
|
.
|
\
|
+ = (2.23)
Then, it may be shown that
cs
is
ds
cp
K
T
T
1 K
|
|
.
|
\
|
+ = , ( )
ds is ip
T T T + = ,
ds
ds is
is
dp
T
T T
T
T
|
|
.
|
\
|
+
= .
Similarly, it may be shown that, provided
dp ip
T 4 T > ,
|
|
.
|
\
|
+ =
ip
dp
cp cs
T
T
4 1 1 K 5 . 0 K ,
|
|
.
|
\
|
+ =
ip
dp
ip is
T
T
4 1 1 T 5 . 0 T ,
|
|
.
|
\
|
=
ip
dp
dp ds
T
T
4 1 1 T 5 . 0 T .
strm and Hgglund (1996) point out that the ideal controller admits complex
zeroes and is thus a more flexible controller structure than the series controller,
which has real zeroes; however, in the frequency domain, the series controller
has the interesting interpretation that the zeroes of the closed loop transfer
function are the inverse values of
is
T and
ds
T . ODwyer (2001b) developed a
comprehensive set of tuning rules for the series PID controller, based on the ideal
PID controller; as these are not strictly original tuning rules, only representative
examples are included in the relevant tables.
In a similar manner, it is straightforward to show that controller structures
(2.6), (2.7) and (2.8) are subsets of a more general controller structure, and
controller parameters may be transformed readily from one structure to another.
2.3 Process Modelling
Processes with time delay may be modelled in a variety of ways. The modelling
strategy used will influence the value of the model parameters, which will in turn
affect the controller values determined from the tuning rules. The modelling
strategy used in association with each tuning rule, as described in the original
papers, is indicated in the tables (see Chapters 3 and 4). These modelling
strategies are outlined in Appendix 2. Process models may be classified as self-
regulating or non-self-regulating, and the models that fall into these categories
are now detailed.
2.3.1 Self-regulating process models
1. Delay model:
m
s
m m
e K ) s ( G

=
2. Delay model with a zero:
m
s
3 m m m
e ) s T 1 ( K ) s ( G

+ = or
m
s
4 m m m
e ) s T 1 ( K ) s ( G

=
3. First order lag plus time delay (FOLPD) model:
m
s
m
m
sT 1
e K
) s ( G
m
+
=

4. FOLPD model with a zero:
1 m
s
3 m m
m
sT 1
e ) sT 1 ( K
) s ( G
m
+
+
=

or
1 m
s
4 m m
m
sT 1
e ) sT 1 ( K
) s ( G
m
+
=

5. Second order system plus time delay (SOSPD) model:
= ) s ( G
m
1 s T 2 s T
e K
1 m m
2 2
1 m
s
m
m
+ +

or
( )( ) s T 1 s T 1
e K
) s ( G
2 m 1 m
s
m
m
m
+ +
=

6. SOSPD model with a zero:
1 s T 2 s T
e ) sT 1 ( K
) s ( G
1 m m
2 2
1 m
s
3 m m
m
m
+ +
+
=

or
) sT 1 )( sT 1 (
e ) sT 1 ( K
) s ( G
2 m 1 m
s
3 m m
m
m
+ +
+
=

( )
( )( )
2 m 1 m
s
4 m m
m
sT 1 sT 1
e sT 1 K
) s ( G
m
+ +
=

or
1 s T 2 s T
e ) sT 1 ( K
) s ( G
1 m m
2 2
1 m
s
4 m m
m
m
+ +
=

7. Third order system plus time delay (TOSPD) model:

( )
3
3
2
2 1
s 3
3
2
2 1 m
m
s a s a s a 1
e ) s b s b s b 1 ( K
) s ( G
m
+ + +
+ + +
=

or
= ) s ( G
m
( )( )( )
3 m 2 m 1 m
s
m
sT 1 sT 1 sT 1
e K
m
+ + +

or

( )( ) 1 s T 1 s T 2 s T
e ) 1 s T ( K
) s ( G
2 m 1 m m
2 2
1 m
s
3 m m
m
m
+ + +
+
=

8. Fifth order system plus delay model:
( )
5
5
4
4
3
3
2
2 1
s 5
s
4
4
3
3
2
2 1 m
m
s a s a s a s a s a 1
e ) s b s b s b s b s b 1 ( K
) s ( G
m
+ + + + +
+ + + + +
=

9. General model.
10. Non-model specific. Corresponding tuning rules may also apply to non-self-
regulating processes.
2.3.2 Non-self-regulating process models
1. Integral plus time delay (IPD) model:
s
e K
) s ( G
m
s
m
m

=
2. IPD model with a zero:
( )
s
e sT 1 K
) s ( G
m
s
3 m m
m

+
= or
( )
s
e sT 1 K
) s ( G
m
s
4 m m
m

=
3. First order lag plus integral plus time delay (FOLIPD) model:
( )
m
s
m
m
sT 1 s
e K
) s ( G
m
+
=

4. FOLIPD model with a zero:
( )
( )
1 m
s
3 m m
m
sT 1 s
e sT 1 K
) s ( G
m
+
+
=

or
( )
( )
1 m
s
4 m m
m
sT 1 s
e sT 1 K
) s ( G
m
+
=

5. Integral squared plus time delay ( PD I
2
) model: = ) s ( G
m
2
s
m
s
e K
m

6. Second order system plus integral plus time delay (SOSIPD) model:
= ) s ( G
m
( )
2
1 m
s
m
sT 1 s
e K
m
+

or
) 1 s T 2 s T ( s
e K
) s ( G
1 m m
2 2
1 m
s
m
m
m
+ +
=

7. SOSIPD model with a zero:
( )
( )( )
2 m 1 m
s
3 m m
m
sT 1 sT 1 s
e sT 1 K
) s ( G
m
+ +
+
=

8. Third order system plus integral plus time delay (TOSIPD) model:
( )( )( )
3 m 2 m 1 m
s
m
m
sT 1 sT 1 sT 1 s
e K
) s ( G
m
+ + +
=

or
( )
3
1 m
s
m
m
sT 1 s
e K
) s ( G
m
+
=

9. General model with integrator:

( )
n
1 m
s
m
m
sT 1 s
e K
) s ( G
m
+
=

or
( ) ( )
( ) ( )
m
4 d 4 3
2 n 2 1
s
i i
i m i m
2 2
i m i m
i
i m i m
2 2
i m
i
i m
m
m
e
1 s T 2 s T 1 s T
1 s T 2 s T 1 s T
s
K
) s ( G

+ + +
+ + +
=
10. Unstable FOLPD model: = ) s ( G
m
1 s T
e K
m
s
m
m

11. Unstable FOLPD model with a zero:
( )
1 s T
e sT 1 K
) s ( G
1 m
s
3 m m
m
m
+
=

or = ) s ( G
m
1 s T
e ) sT 1 ( K
m
s
4 m m
m

12. Unstable SOSPD model (one unstable pole):
= ) s ( G
m
( )( )
2 m 1 m
s
m
sT 1 1 s T
e K
m
+

13. Unstable SOSPD model (two unstable poles):
= ) s ( G
m
( )( ) 1 s T 1 s T
e K
2 m 1 m
s
m
m

14. Unstable SOSPD model with a zero:
= ) s ( G
m
( )
1 s T 2 s T
e s T 1 K
1 m m
2 2
1 m
s
3 m m
m
+
+

or
( )
1 s T 2 s T
e s T 1 K
1 m m
2 2
1 m
s
3 m m
m
+ +
+

or
= ) s ( G
m
1 s T 2 s T
e ) sT 1 ( K
1 m m
2 2
1 m
s
4 m m
m
+

Table 1 shows the number of tuning rules defined for each PI/PID controller
structure and types of process model. The following data is key to the process
model type:

Model 1: Stable FOLPD model (with or without a zero)
Model 2: Stable SOSPD model (with or without a zero)
Model 3: Other stable models
Model 4: Non-model specific
Model 5: Models with an integrator
Model 6: Open loop unstable models

Table 1: PI/PID controller structure and tuning rules a summary
Process model
Controller
Equation
1 2 3

4 5 6 Total
(2.3) 261 63 58 59 90 32 563
(2.4) 140 82 20 63 66 35 406
(2.6) 20 23 3 9 16 17 88
(2.7) 36 9 5 11 6 0 67
(2.8) 74 53 1 12 26 17 183
(2.11) 7 7 1 4 5 6 30
(2.12) 74 36 14 9 106 37 276
(2.16) 7 3 0 0 16 8 34
(2.17) 28 15 1 2 8 30 84
Total 649 291 103 169 339 182 1731

Table 1 shows that for the tuning rules defined, 60% are based on a self-
regulating (or stable) model, 10% are non-model specific, with the remaining
30% based on a non-self-regulating model.
2.4 Organisation of the Tuning Rules
The tuning rules are organised in tabular form in Chapters 3 and 4. Within each
table, the tuning rules are classified further; the main subdivisions made are as
follows:
(i) Tuning rules based on a measured step response (also called process reaction
curve methods).
(ii) Tuning rules based on minimising an appropriate performance criterion,
either for optimum regulator or optimum servo action.
(iii) Tuning rules that give a specified closed loop response (direct synthesis
tuning rules). Such rules may be defined by specifying the desired poles of
the closed loop response, for instance, though more generally, the desired
closed loop transfer function may be specified. The definition may be
expanded to cover techniques that allow the achievement of a specified gain
margin and/or phase margin.
(iv) Robust tuning rules, with an explicit robust stability and robust performance
criterion built into the design process.
(v) Tuning rules based on recording appropriate parameters at the ultimate
frequency (also called ultimate cycling methods).
(vi) Other tuning rules, such as tuning rules that depend on the proportional gain
required to achieve a quarter decay ratio or to achieve magnitude and
frequency information at a particular phase lag.
Some tuning rules could be considered to belong to more than one subdivision,
so the subdivisions cannot be considered to be mutually exclusive; nevertheless,
they provide a convenient way to classify the rules. All symbols used in the
tables are defined in Appendix 1.

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