From published literature, there is a wide range of pitfalls into which control engineers frequently stumble.1–3 As these pitfalls were documented, more were discovered. In this article, we will focus on a very specific area of control design. The following rules investigate how substantial deterioration in process performance is possible in proportional, integral and differential (PID) control systems.
Rule 1. Use the ‘derivative-on-error’ algorithm.
The PID algorithm in its conventional analog form is usually written as:
Despite this or, more often, its equivalent in Laplace form, being used in most distributive control systems (DCSs) vendors’
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