Discrete PID Controller with a Single Tuning Parameter

The paper describes a simple procedure for tuning discrete proportional — integral — derivative control algorithms. Two recommendations which are currently employed to select controller parameters are combined. For a given sampling frequency this leaves only the controller gain to be adjusted on each control loop. The technique has been applied to the regulation of a process represented by a single time constant and time delay which is subjected to load disturbances. Digital simulation results are given which show that acceptable regulation is obtained which is comparable to tuning all three controller parameters to minimise a specified integral performance index.