MoReRT Practical Application

  • Víctor M. AlfaroEmail author
  • Ramon Vilanova
Part of the Advances in Industrial Control book series (AIC)


We have used the MoReRT design procedure for tuning different two-degree-of-freedom (2DoF) proportional integral derivative (PID).


  1. 1.
    ABB Control Technologies: System 800xA 5.1 Product Catalog (FP4 included). Västeras, Sweden (2013)Google Scholar
  2. 2.
    ABB Control Technologies: Functional Description—PID01 Closed Loop Controller. Västeras, Sweden (2012). Document number. 3BTG811792-3032, Version 5.2-0Google Scholar
  3. 3.
    ABB Control Technologies: Funtional Description, PP_ FunctionLib. Västeras, Sweden (2012). Document number: 3BTG811792-3011, Version 5.2-0Google Scholar
  4. 4.
    ABB Control Technologies: Functional Description: PID01A—Closed Loop Controller with Auto Tuner, Version 5.2-0 . Västeras, Sweden (2012). Document number: 3BTG811792-3033Google Scholar
  5. 5.
    ABB Automation Technology Products: Industrial IT 800xA—System, 800xA for Advant Master, System Version 4.0, Graphic Library. Västeras, Sweden (2004). Document number: 3BSE030430R4001Google Scholar
  6. 6.
    Beall, J.: Interesting and Useful Features of the DeltaV PID Controller (n.a.). Emerson Global Users ExchangeGoogle Scholar
  7. 7.
    Emerson Process Management: Key Features of the DeltaV PID Function Block (2011). Delta V WhitepaperGoogle Scholar
  8. 8.
    Fisher-Rosemount Systems, Inc.: DeltaV Books Online (2006). Version 9.3Google Scholar
  9. 9.
    Mitsubishi Electric Corporation, Industrial Automation: MELSEC System Q - Programmable Logic Controllers, Programming Manual (Process Control Instructions, QnPH CPUs) (2002). Art. no. 149256, SH(NA)-080316, Version AGoogle Scholar
  10. 10.
    National Instruments Corporation: LabVIEW 2014 Help. 11500 North Mopac Expressway, Austin, Texas, USA (2014). Document No. 371361L-01Google Scholar
  11. 11.
    OMRON Corporation: SYSMAC CS/CJ Series CS1W-LCB01/CS1W-LCB05 Loop Control Boards, CS1D-CPU P Process-control CPU Units, CJ1G-CPU P Loop-control CPU Units—Function Blocks Reference Manual. Control Devices Division H.Q., Shiokoji Horikawa, Shimogyo-ku, Kyoto, 600-8530, Japan (2005). Cat. No. W407-E1-06Google Scholar
  12. 12.
    Balda, P., Schlegel, M.: Advanced PID control algorithms built into the REX control system. In: IFAC Conference on Advances in PID Control (PID’12). 28–30 March, Brescia, Italy (2012)Google Scholar
  13. 13.
    REX Controls s.r.o.: Function Blocks of the REX Control System: Reference manual. Pilsen, Czech Republic (2015). Version 2.10.6Google Scholar
  14. 14.
    Siemens AG: SIMATIC S7-1200 Easy Book. Nürnberg, Germany (2011). A5E02486774-02Google Scholar
  15. 15.
    Siemens AG: SIMATIC S7-1200 Programmable controller, System Manual. Nürnberg, Germany (2012). A5E02486680-06Google Scholar
  16. 16.
    Siemens AG: PID Control with Gain Scheduling and PID Tuning, SIMATIC PCS 7—Application Example. Nürnberg, Germany (2009). 38755162Google Scholar
  17. 17.
    Siemens AG: SIMATIC Process Control System PCS 7–PCS 7 Advanced Process Library V8.0, Function Manual. Nürnberg, Germany (2011). A5E03709256-01Google Scholar
  18. 18.
    Toshiba Corporation: Unified Controller nv series & Integrated Controller V series - Programming Instructions (LD/FBD/SFC/ST). 72–34, Horikawa-Cho, Saiwai-Ku, Kawasaki 212-8585, Japan, 6th edn. (2014)Google Scholar
  19. 19.
    Toshiba Corporation: Unified Controller - Single-Loop Controller LC531/LC532 - Instruction Manual. 72-34, Horikawa-cho, Saiwai-Ku, Kawasaki 212-8585, Japan, 4th edn. (2014)Google Scholar
  20. 20.
    Alfaro, V.M., Vilanova, R., Arrieta, O.: Considerations on set-point weight choice for 2-DoF PID controllers. In: IFAC International Symposium on Advanced Control on Chemical Process (ADCHEM 2009). 12–15 July, Istambul, Turkey (2009)Google Scholar
  21. 21.
    Alfaro, V.M., Vilanova, R., Arrieta, O.: Analytical robust tuning of PI controllers for First-Order-Plus-Dead-Time processes. In: 13th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA2008). Sept 15–18, Hamburg, Germany (2008)Google Scholar
  22. 22.
    Alfaro, V.M., Vilanova, R., Arrieta, O.: A single-parameter robust tuning approach for Two-Degree-of-Freedom PID controllers. In: European Control Conference (ECC2009). Aug 23–26, Budapest, Hungary (2009)Google Scholar
  23. 23.
    Alfaro, V.M., Balaguer, P., Arrieta, O.: Robustness considerations on pid tunins for regulatory control of inverse response processes. In: IFAC Conference on Advanced in PID Control (PID’12). IFAC Conference on Advanced in PID Control (PID’12), Bresia, Italy, 28–30 March (2012)Google Scholar
  24. 24.
    Bequette, B.W.: Process Dynamics: Modeling, Analysis, and Simulation. Prentice Hall, Inc., Upper Saddle River, New Jersey 07458, USA (1998)Google Scholar
  25. 25.
    Coughanowr, D.R., LeBlanc, S.E.: Process systems analysis and control, 3rd edn. McGraw-Hills, Inc., 1221 Avenue of the Americas, New York, NY 10020, USA (2009)Google Scholar
  26. 26.
    Luyben, W.L.: Process Modeling, Simulation, and Control for Chemical Engineers, 2nd edn. McGraw-Hill, Inc. (1999)Google Scholar
  27. 27.
    Seborg, D.E., Edgar, T.F., Mellichamp, D.A.: Process Dynamics and Control, 2nd edn. Wiley, Inc., Hoboken, NJ 07030, USA (2004)Google Scholar
  28. 28.
    Alfaro, V.M.: Low-Order Models Identification from the Process Reaction Curve. Ciencia y Tecnología (Costa Rica) 24(2), 197–216 (2006). (in Spanish) Available at

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.School of Electrical EngineeringUniversidad de Costa RicaSan JoséCosta Rica
  2. 2.School of EngineeringUniversitat Autònoma de BarcelonaBarcelonaSpain

Personalised recommendations