Generalized Haalman tuning of PIDA controllers

In this paper we propose a new tuning methodology for Proportional-Integral-Derivative-Acceleration (PIDA) controllers. First, a third-order-plus-dead-time transfer function of the (high-order) process is estimated by evaluating an open-loop step response. Then, the three time constants of the controller are determined by applying a pole-zero cancellation approach and the proportional gain is finally adjusted in order to obtain a desired maximum sensitivity. The controller filters are selected in order to minimize the effects of the measurement noise and to avoid kicks in the control variable. Simulation results show the effectiveness of the methodology in comparison with PID control.