Predictive PID Tuning Method Based on the Simplified GPC Control Law

In this work, a new predictive proportional-integral-derivative (PID) tuning method is proposed based upon a simplified generalized predictive control (GPC) control law. Values of the tuning parameters of a predictive PID controller are obtained from the simplified GPC control law for the 1st-order and 1st-order plus integrating processes with time delays of integer and non-integer multiples of the sampling time. The internal model technique is employed to compensate for the effect of time delay of the target process. The predictive PID controller is equivalent to the PI controller when the target process is the 1st-order and to the PID controller when the target process is the 1st-order plus integrating process. The performance of the proposed predictive PID controller is almost the same as that of the simplified GPC. The main advantage of the proposed control scheme over other methods is the ease of tuning and operation.