Intro -- Practical PID Handbook -- Preamble -- Contents -- Main Features -- Context -- Features -- PID Actions -- Proportional Action -- Integral Action -- Derivative Action -- Different Types of PID -- Equivalence of PID -- Mixed ↔ Parallel Conversion -- Mixed ↔ Series Conversions -- Series→Mixed Conversion -- Mixed→Series Conversion -- Parallel ↔ Series Conversions -- Series→Parallel Conversion -- Parallel→Series Conversion -- Summary Tables -- Examples -- PID: Frequency Response -- Series PID -- 1st Case ωi < -- ωd (figure 1.16) -- 2nd Case ωi=ωd (figure 1.17) -- 3rd Case ωi > -- ωd (figure 1.18) -- Mixed PID -- 1st Case Td/Ti < -- f(N) (figure 1.20) -- 2nd Case Td/Ti=f(N) (figure 1.21) -- 3rd Case Td/Ti > -- f(N) -- Digital PID -- Continuous to Digital Transposition -- z-Transformation -- Backward or BW Approximation -- Forward or FW Approximation -- z-Transformation and Approximation -- Basic Actions -- Integral -- Derivative -- Step Response -- Response to a Ramp -- Transposition Tables -- Digital PID -- PID Form -- RST Form -- Correspondence Tables -- Realization Algorithms -- Sample Processing -- Different Algorithms -- PID Forms -- Steady State -- Smooth Automatic Switchover -- PID Algorithm in Automatic Mode -- RST Form -- Absolute RST Algorithm -- Differential RST Algorithm -- Particular PID Cases -- Ancillary Features -- Manual Mode -- Automatic Mode -- Limitations -- Absolute RST -- Differential RST -- Comparison of Limitation Algorithms -- Direct/Reverse Choice -- Inputs/Outputs -- Summary -- Process Models -- Different Process Models -- Stable Systems -- Static Curve -- Static Gain Measurement in Open Loop -- Static Gain Measurement in Closed Loop -- Integrating Systems -- Usual Models -- Identification Methods -- Open Loop Method -- Closed Loop Method -- Broïda Model -- Open Loop Identification.

Inflection Point Tangent Method -- Broïda's Method (Broïda, 1969) -- Closed Loop Identification (Dindeleux, 1989) -- 2nd Order Model with Delay -- Open Loop Identification -- Closed Loop Identification -- Strejc Model (Strejc, 1960) -- Open Loop Identification -- Strejc Method -- Naslin's Method (Naslin, 1968) -- Closed Loop Identification -- Reverse Response Strejc Model -- Integrating Model with Delay -- Open Loop Identification -- Closed Loop Identification -- Integrator and 1st Order Model -- Open Loop Identification -- Model without Delay (L=0) -- Model with Delay (L ≠ 0) -- Example -- Closed Loop Identification -- Integrating Model and Order n -- Open Loop Identification -- Model without Delay (L=0) -- Model with Delay (L ≠ 0) -- Closed Loop Identification -- Model without Delay: L=0 -- Model with Delay: L ≠ 0 -- Integrating Reverse Response Model -- Open Loop Identification -- Model of Order n=1 -- Model of Order n≥2 -- Closed Loop Identification -- Case of Delay -- Evaluation of Performances -- Process Performances -- Step Response -- Frequency Response -- Adjustment Objectives -- Closed Loop Setting Criteria -- Stability Criteria -- Step Response Criteria -- Overshoot and Response Time -- Consecutive Overshoots -- 1st or 2nd Order Systems -- Order n Systems: Naslin Criterion (Naslin, 1968, 1962) -- Optimization Criteria -- Frequency Criteria -- Ziegler-Nichols and Associated Methods -- Ziegler and Nichols Closed Loop Method -- Ziegler and Nichols Open Loop Method -- Cohen and Coon Method (Cohen and Coon, 1953) -- Takahashi Method (Takahashi et al., 1971) -- KT Method of Aström and Hägglund (1995) -- Ultimate Gain Method -- Stable Processes -- Integrating Processes -- Open Loop Method -- Stable Process -- Integrating Processes -- Adjustment Curves -- Performances -- Stable Process -- Integrating Process -- Process with Delay.

Overview Summary -- Cancellation Methods -- Dindeleux Method (Dindeleux, 1989) -- Stable Process -- Integrating Process -- Ultimate Gain Method -- Performances -- Stable Process -- Integrating Process -- Summary -- Haalman Method (Haalman, 1965) -- Cancellation for 2nd Order -- Stable Processes -- Tracking -- Regulation -- Settings -- Medium Setting -- Integrating Process -- PD Controller -- PID Controller -- Pure Derivative -- Filtered Derivative -- Direct Synthesis Method and IMC Method -- Direct Synthesis Method -- IMC Method (Internal Model Control) -- PID Controller -- Synthesis Summary -- Optimization Methods -- Integral Criterion Method -- Study of Rovira, Murrill and Smith (Rovira et al., 1967) -- Study of Miller, Lopez, Smith (Miller et al., 1967) -- Study of Kaya and Scheib (Kaya and Scheib, 1988) -- Example -- Chien, Hrones and Reswick Method (Chien et al., 1952) -- Samal Method -- Choice of a Method -- Pole Placement Methods -- Naslin Method (Naslin, 1968, 1962) -- Original Method -- Calculation of the frequency -- Calculation of the Rise Time -- Application: we predict α = 2 to have D ≅ 6% -- Industrial Method (Chaussard et al., 1967) -- Example -- Method for Integrating Process -- Setting -- Example -- Use -- Variant for Integrating Process -- Method for Integrating Strejc Model -- Classical Method (Corriou, 2018 -- Flaus, 1994) -- Setting Criteria -- Performances -- 1st Example -- 2nd Example: Integrating Process -- Default Setting -- Strejc Setting -- Case of a Derivative on the Measurement -- 1st Case -- 2nd Case -- Use -- Dominant Poles Method -- Principle (Aström and Hägglund, 1995) -- Application -- Settings -- Choice of a Method -- Frequency Methods -- 1st Method: Phase Margin -- 2nd Method: Resonance Factor -- Examples of Application -- Case of Integrating Systems -- 1st Example: 2nd Order Process.

2nd Example: Order 4 Process -- Application -- Kessler's Method (Kessler, 1958, 1955) -- 2nd Order Process -- Integrating Process (a=0) -- Tracking -- Regulation -- Aperiodic Process (a=1) -- 3rd Order Process -- Double Integrator Process (a=b=0) -- Integrating Process (a=0, b=1) -- Aperiodic Process (a=b=1) -- Performances -- Summary -- KLV Method (Kessler, Landau and Voda) (Voda and Landau, 1995) -- Basic Settings -- Setting 1: Symmetrical Optimum -- Setting 2: Modulus Optimum (Kessler, 1955) -- Setting 3: Case of a Delay -- Summary Table -- Auto-Calibration -- 2nd Order Model -- Broïda Model -- Settings -- KLV 1P Method -- PI Controller -- PID Controller -- KLV 2P Method -- Performances -- Use and Choice -- Digital Settings Methods -- Choice of the Sampling Period -- Zero Cancellation -- Cancellation Method (Buhler, 1986) -- Principle -- Process -- Case of Uncompensated Zeros -- Choice of HD -- Controller -- Use -- Examples of Responses -- Pole Placement Method (Borne et& -- #146 -- al., 1993 -- Landau, 1988) -- Principle -- Zero Cancellation of B -- Pole Placement with RST -- Process -- Use -- Summary Tables -- Examples -- Tracking and Regulation -- Principle -- Regulation Dynamics -- Tracking Dynamics -- Ideal Tracking -- Tracking in Finite Time -- Process -- Use -- Examples -- Summary Tables -- Choice of a Dynamic d1, d2 -- Choice of Tracking Dynamics -- Choice of Response -- Command Calculation -- Choice of a Regulation Dynamics -- Calculation of the Magnitude -- Command Calculation -- Summary Tables -- Adjustments and Use -- Sampling Period -- PI Controller -- Example 1 -- Example 2 -- PID Controller -- Filter Factor N (Visioli, 2006) -- Model Compliance -- Broïda Model -- Strejc Model -- Static Gain -- Control Constraints -- Use -- Choice of Controller Type -- Choice of an Adjustment Method -- Knowledge of the Process.

Adjustment Criteria -- Ease of Implementation -- Case of Delay -- Summary Tables -- Conclusion -- Appendix -- 1st Order System -- 2nd Order System -- Generalized 2nd Order System -- Discrete 1st and 2nd Order Systems -- Discrete 1st Order System -- Discrete 2nd Order System -- Choice of a Behaviour Model -- Tracking -- Regulation -- Strejc-Broïda Correspondence -- Corrections of n-order Models -- Relay Experiment -- Expression of the First Samples -- Linearization -- Bibliography -- Index.