Recent blogs appearing on http://www.EmersonProcessXperts.com and http://www.controlguru.com discussing the practical value of process models and various controller rules motivated me to write the following for my "Control Talk" column scheduled for the November issue of Control magazine.
I think most astute control people can devise a case where the literal use of their favorite tuning method is better than another method. In the book titled Handbook of PI and PID Controller Tuning Rules 2nd ed by Aidan O'Dwyer there are over 400 pages of tables of tuning rules. My rules are cited 6 times (incorrectly for dead time dominant processes). Obviously the authors of these rules all thought they had something better to offer.
To help put it all in perspective, I offer the following Top Ten List.
Top Ten Reasons to Devise Your Own Tuning Rule and Simulation Test
10. Opportunity to present papers at your favorite conference (whoops - not possible this year at ISA since there are no sessions on traditional process control)
9. Material to start a blog site
8. Competitive edge to start a consulting business
7. Listing in a book on tuning rules
6. Method named after you (sorry Ignatius Michael Coolman, the IMC acronym is taken)
5. Simulations tailored to prove your point
4. Linear processes without control valves
3. Speed since the time to steady state is just a matter of seconds in your simulation
2. Simplicity by ignoring the prevalence, size, speed, and entry point of unmeasured disturbances in real processes and non-stationary behavior
1. Chance to discount industrial online software for controller tuning as just hearsay
What prompted this impromptu column was the realization that diverse tuning rules have a common basis. For example, the equation for controller gain from the Ziegler Nichols ultimate oscillation, Lambda self-regulating and integrating process, and Internal Model Control tuning rules when set for maximum disturbance rejection reduce to the Ziegler Nichols reaction curve rule. For this discussion, we are focusing on loops dominated by a single time constant so that the dead time to time constant ratio is less than 0.5. It is important to remember that maximum disturbance rejection corresponds to maximum transfer of variability from the process control variable to the controller output, which may not be the entire objective. The following files show the basis and importance of this unification and simplification of tuning rules.
Process Responses to Change in Controller Output
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Online pharmacies are easiest way to buy the drugs. The best thing about the online pharmacies is that they sell the drugs at the affordable rates, which suits customer the most. Another important advantage of the online pharmacies is that you get the medicine without anyone knows about it. In fact I would say online pharmacy www.drugstoregenerics.com is the best place to buy the medicines related to the sexual health ailments. The trend of online pharmacy is ruling the drugs market today because of the additional benefits it is providing to the customers.
Online pharmacies are easiest way to buy the drugs. The best thing about the online pharmacies is that they sell the drugs at the affordable rates, which suits customer the most. Another important advantage of the online pharmacies is that you get the medicine without anyone knows about it. In fact I would say online pharmacy www.drugstoregenerics.com is the best place to buy the medicines related to the sexual health ailments. The trend of online pharmacy is ruling the drugs market today because of the additional benefits it is providing to the customers.
Online pharmacies are easiest way to buy the drugs. The best thing about the online pharmacies is that they sell the drugs at the affordable rates, which suits customer the most. Another important advantage of the online pharmacies is that you get the medicine without anyone knows about it. In fact I would say online pharmacy www.drugstoregenerics.com is the best place to buy the medicines related to the sexual health ailments. The trend of online pharmacy is ruling the drugs market today because of the additional benefits it is providing to the customers.
Online pharmacies are easiest way to buy the drugs. The best thing about the online pharmacies is that they sell the drugs at the affordable rates, which suits customer the most. Another important advantage of the online pharmacies is that you get the medicine without anyone knows about it. In fact I would say online pharmacy www.drugstoregenerics.com is the best place to buy the medicines related to the sexual health ailments. The trend of online pharmacy is ruling the drugs market today because of the additional benefits it is providing to the customers.
genericpharmacia.com provide the customers with the drugs at the lowest possible costs because they do not have to spend too much on maintaining the physical shop and on hiring the person who will handle the shop. Very less maintenance and rental is required for the online drugs stores so additional savings are done here. Also, www.drugstoregenerics.com purchase the medicines directly from the drug manufacturer so they get the drugs at very less costs and the drug wholesaler doesn’t come in between. This helps the online pharmacies to keep the prices of the drugs at comparatively lower rates than the shopkeepers.
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genericpharmacia.com provide the customers with the drugs at the lowest possible costs because they do not have to spend too much on maintaining the physical shop and on hiring the person who will handle the shop. Very less maintenance and rental is required for the online drugs stores so additional savings are done here. Also, www.drugstoregenerics.com purchase the medicines directly from the drug manufacturer so they get the drugs at very less costs and the drug wholesaler doesn’t come in between. This helps the online pharmacies to keep the prices of the drugs at comparatively lower rates than the shopkeepers.
genericpharmacia.com provide the customers with the drugs at the lowest possible costs because they do not have to spend too much on maintaining the physical shop and on hiring the person who will handle the shop. Very less maintenance and rental is required for the online drugs stores so additional savings are done here. Also, www.drugstoregenerics.com purchase the medicines directly from the drug manufacturer so they get the drugs at very less costs and the drug wholesaler doesn’t come in between. This helps the online pharmacies to keep the prices of the drugs at comparatively lower rates than the shopkeepers.
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The concept of the online pharmacies was introduced in the market 10 years back, but at that time no one use to believe in the drugs sold by them. The situation changed as the time passed by. The main change occurred when the webmdpharmacy.com opted out the policy of the low costing of drugs than the shop vendors. Online pharmacies are built in a manner that they are very much user friendly. Even for the new customer who is unfamiliar with the concept of online pharmacies, they provide sufficient help documents and also the online customer support that guides the customer. www.drugstoregenerics.com help section ensure a pleasant experience for shoppers of all ages.viagra-stop.com
Online pharmacies are easiest way to buy the drugs. The best thing about the online pharmacies is that they sell the drugs at the affordable rates, which suits customer the most. Another important advantage of the online pharmacies is that you get the medicine without anyone knows about it. In fact I would say online pharmacy www.drugstoregenerics.com is the best place to buy the medicines related to the sexual health ailments. The trend of online pharmacy is ruling the drugs market today because of the additional benefits it is providing to the customers.
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the entire
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Online pharmacies are easiest way to buy the drugs. The best thing about the online pharmacies is that they sell the drugs at the affordable rates, which suits customer the most. Another important advantage of the online pharmacies is that you get the medicine without anyone knows about it. In fact I would say online pharmacy www.drugstoregenerics.com is the best place to buy the medicines related to the sexual health ailments. The trend of online pharmacy is ruling the drugs market today because of the additional benefits it is providing to the customers.
genericpharmacia.com provide the customers with the drugs at the lowest possible costs because they do not have to spend too much on maintaining the physical shop and on hiring the person who will handle the shop. Very less maintenance and rental is required for the online drugs stores so additional savings are done here. Also, www.drugstoregenerics.com purchase the medicines directly from the drug manufacturer so they get the drugs at very less costs and the drug wholesaler doesn’t come in between. This helps the online pharmacies to keep the prices of the drugs at comparatively lower rates than the shopkeepers.
The concept of the online pharmacies was introduced in the market 10 years back, but at that time no one use to believe in the drugs sold by them. The situation changed as the time passed by. The main change occurred when the webmdpharmacy.com opted out the policy of the low costing of drugs than the shop vendors. Online pharmacies are built in a manner that they are very much user friendly. Even for the new customer who is unfamiliar with the concept of online pharmacies, they provide sufficient help documents and also the online customer support that guides the customer. www.drugstoregenerics.com help section ensure a pleasant experience for shoppers of all ages.viagra-stop.com
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Too many pieces of music finish too long after the end. Igor Stravinsky (1882-1971)
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This is getting a bit more subjective, but I much prefer the Zune Marketplace. The interface is colorful, has more flair, and some cool features like 'Mixview' that let you quickly see related albums, songs, or other users related to what you're listening to. Clicking on one of those will center on that item, and another set of "neighbors" will come into view, allowing you to navigate around exploring by similar artists, songs, or users. Speaking of users, the Zune "Social" is also great fun, letting you find others with shared tastes and becoming friends with them. You then can listen to a playlist created based on an amalgamation of what all your friends are listening to, which is also enjoyable. Those concerned with privacy will be relieved to know you can prevent the public from seeing your personal listening habits if you so choose.