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The Strathprints institutional repository is a digital archive of University of Strathclyde's Open Access research outputs. Strathprints provides access to thousands of Open Access research papers by Strathclyde researchers, including by researchers from the Physical Activity for Health Group based within the School of Psychological Sciences & Health. Research here seeks to better understand how and why physical activity improves health, gain a better understanding of the amount, intensity, and type of physical activity needed for health benefits, and evaluate the effect of interventions to promote physical activity.

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Multi-variable PID tuning of dynamic ship positioning control systems

Martin, P. and Katebi, M.R. (2005) Multi-variable PID tuning of dynamic ship positioning control systems. Proceedings- Institute of Marine Engineering Science and Technology Part A Journal of Marine Engineering and Technology, 1 (A7). pp. 11-24. ISSN 1476-1548

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Abstract

The proper tuning of multivariable PID controllers is not a straightforward task. This is specially true when data driven models and controller design methodologies are adopted to increase the industry acceptance of controller implementation and commissioning. On the other hand there are well established model based design methodologies which provide controllers of higher complexity. In this paper we propose a tuning methodology based on a PID controller matching to a figure of merit. Thus the PID tuning parameters are selected to minimize certain error metric when compared with an optimal controller. Moreover the index to be minimized is a residual that can be obtained from data. As a result it is possible to validate the proximity of the PID controller to the desired figure of merit in the frequency domain from data.