Data-Driven PID Closed-Loop Evaluation and Retuning Time and Frequency Domain Approaches

In this paper, data-driven proportional–integral–derivative (PID) controller retuning is addressed. Time and frequency domain data collected from a closed-loop experiment is used to evaluate the actual closed-loop and to retune the PID controller. Assuming knowledge of the current PID controller, optimal controller gains increments are computed in order to adjust the closed-loop behavior to match a first-order plus time delay reference model. This model is defined with internal model control characteristics considering the process time delay and desired closed-loop specifications. Simulation and experimental results show that the proposed techniques is suitable for retuning PID controllers with different reference models and different initial controllers.