Application of Data-Driven Loop-Shaping Method to Multi-Loop Control Design of Benchmark PID 2012

In this paper, an MIMO boiler control problem of Benchmark PID 2012 is studied, and a multi-loop PID control system is designed by our data-driven loop-shaping method. Our method is applicable to non-minimum phase or time-delay SISO plants very easily especially for stable plants, and a good disturbance rejection can be attained with a specified stability margin. The boiler model has non-minimum phase and integrating properties. A two step design procedure is newly presented so that our design method can be applied to integrating processes. The multi-loop controller consists of one PID and one PID-PD controllers, and each PID controller is designed by using a one-shot input-output response around the operating point. The control performance is considerably improved compared with a conservative initial PID gain.