Proportional 1

SP 50

SP Iteration PV ERROR OUTPUT

50 1 0 50 50
50 2 50 0 0
50 3 0 50 50
50 4 50 0 0
50 5 0 50 50
50 6 50 0 0
50 7 0 50 50
50 8 50 0 0
50 9 0 50 50
50 10 50 0 0
50 11 0 50 50
50 12 50 0 0
50 13 0 50 50
50 14 50 0 0
50 15 0 50 50
50 16 50 0 0
50 17 0 50 50
50 18 50 0 0
50 19 0 50 50
50 20 50 0 0
50 21 0 50 50
50 22 50 0 0
50 23 0 50 50
50 24 50 0 0
50 25 0 50 50
50 26 50 0 0
50 27 0 50 50
50 28 50 0 0
50 29 0 50 50
50 30 50 0 0
50 31 0 50 50
50 32 50 0 0
50 33 0 50 50
50 34 50 0 0
50 35 0 50 50
50 36 50 0 0
50 37 0 50 50
50 38 50 0 0
50 39 0 50 50
50 40 50 0 0
50 41 0 50 50
50 42 50 0 0
50 43 0 50 50
50 44 50 0 0
50 45 0 50 50
50 46 50 0 0
50 47 0 50 50
50 48 50 0 0
50 49 0 50 50
50 50 50 0 0
Proportional 1

SP 50

Iteration PV ERROR OUTPUT

0
1 0 50 50
2 0 50 50
3 50 0 0
4 50 0 0
5 0 50 50
6 0 50 50
7 50 0 0
8 50 0 0
9 0 50 50
10 0 50 50
11 50 0 0
12 50 0 0
13 0 50 50
14 0 50 50
15 50 0 0
16 50 0 0
17 0 50 50
18 0 50 50
19 50 0 0
20 50 0 0
21 0 50 50
22 0 50 50
23 50 0 0
24 50 0 0
25 0 50 50
26 0 50 50
27 50 0 0
28 50 0 0
29 0 50 50
30 0 50 50
31 50 0 0
32 50 0 0
33 0 50 50
34 0 50 50
35 50 0 0
36 50 0 0
37 0 50 50
38 0 50 50
39 50 0 0
40 50 0 0
41 0 50 50
42 0 50 50
43 50 0 0
44 50 0 0
45 0 50 50
46 0 50 50
47 50 0 0
48 50 0 0
49 0 50 50
50 0 50 50
Proportional 1

SP 50

Iteration PV ERROR OUTPUT

0
0
1 0 50 50
2 0 50 50
3 0 50 50
4 50 0 0
5 50 0 0
6 50 0 0
7 0 50 50
8 0 50 50
9 0 50 50
10 50 0 0
11 50 0 0
12 50 0 0
13 0 50 50
14 0 50 50
15 0 50 50
16 50 0 0
17 50 0 0
18 50 0 0
19 0 50 50
20 0 50 50
21 0 50 50
22 50 0 0
23 50 0 0
24 50 0 0
25 0 50 50
26 0 50 50
27 0 50 50
28 50 0 0
29 50 0 0
30 50 0 0
31 0 50 50
32 0 50 50
33 0 50 50
34 50 0 0
35 50 0 0
36 50 0 0
37 0 50 50
38 0 50 50
39 0 50 50
40 50 0 0
41 50 0 0
42 50 0 0
43 0 50 50
44 0 50 50
45 0 50 50
46 50 0 0
47 50 0 0
48 50 0 0
49 0 50 50
50 0 50 50
Proportional 0.45 DEAD TIME = 0 Proportional 0.45
Integral 0.6 Integral 0.3

SP 50 SP 50
ABSOLUTE
Iteration PV ERROR ERROR OUTPUT INTEGRAL Iteration PV
0 0
1 0 50 50 22.5 13.5
2 22.5 27.5 27.5 25.88 20.93 1 0
3 25.88 24.13 24.13 31.78 27.44 2 0
4 31.78 18.22 18.22 35.64 32.36 3 22.5
5 35.64 14.36 14.36 38.82 36.24 4 29.25
6 38.82 11.18 11.18 41.27 39.25 5 25.88
7 41.27 8.73 8.73 43.18 41.61 6 26.55
8 43.18 6.82 6.82 44.68 43.45 7 30.87
9 44.68 5.32 5.32 45.85 44.89 8 33.82
10 45.85 4.15 4.15 46.76 46.01 9 35.04
11 46.76 3.24 3.24 47.47 46.89 10 36.3
12 47.47 2.53 2.53 48.02 47.57 11 37.93
13 48.02 1.98 1.98 48.46 48.1 12 39.39
14 48.46 1.54 1.54 48.8 48.52 13 40.5
15 48.8 1.2 1.2 49.06 48.84 14 41.48
16 49.06 0.94 0.94 49.27 49.1 15 42.41
17 49.27 0.73 0.73 49.43 49.3 16 43.25
18 49.43 0.57 0.57 49.55 49.45 17 43.98
19 49.55 0.45 0.45 49.65 49.57 18 44.63
20 49.65 0.35 0.35 49.73 49.66 19 45.21
21 49.73 0.27 0.27 49.79 49.74 20 45.73
22 49.79 0.21 0.21 49.83 49.8 21 46.2
23 49.83 0.17 0.17 49.87 49.84 22 46.61
24 49.87 0.13 0.13 49.9 49.88 23 46.97
25 49.9 0.1 0.1 49.92 49.9 24 47.3
26 49.92 0.08 0.08 49.94 49.92 25 47.6
27 49.94 0.06 0.06 49.95 49.94 26 47.86
28 49.95 0.05 0.05 49.96 49.95 27 48.09
29 49.96 0.04 0.04 49.97 49.96 28 48.3
30 49.97 0.03 0.03 49.98 49.97 29 48.48
31 49.98 0.02 0.02 49.98 49.98 30 48.65
32 49.98 0.02 0.02 49.99 49.98 31 48.79
33 49.99 0.01 0.01 49.99 49.99 32 48.92
34 49.99 0.01 0.01 49.99 49.99 33 49.04
35 49.99 0.01 0.01 49.99 49.99 34 49.14
36 49.99 0.01 0.01 49.99 49.99 35 49.24
37 49.99 0.01 0.01 50 50 36 49.32
38 50 0 0 50 50 37 49.39
39 50 0 0 50 50 38 49.46
40 50 0 0 50 50 39 49.52
41 50 0 0 50 50 40 49.57
42 50 0 0 50 50 41 49.62
43 50 0 0 50 50 42 49.66
44 50 0 0 50 50 43 49.7
45 50 0 0 50 50 44 49.73
46 50 0 0 50 50 45 49.76
47 50 0 0 50 50 46 49.78
48 50 0 0 50 50 47 49.81
49 50 0 0 50 50 48 49.83
50 50 0 0 50 50 49 49.85
50 49.86
185.18
 DEAD TIME = 1 Proportional 0.45
Integral 0.2

SP 50
ABSOLUTE ABSOLUTE
ERROR ERROR OUTPUT INTEGRAL Iteration PV ERROR ERROR OUTPUT
0 0 0
0 0 0
50 50 22.5 6.75 0
50 50 29.25 13.5 1 0 50 50 22.5
27.5 27.5 25.88 17.21 2 0 50 50 27
20.75 20.75 26.55 20.01 3 0 50 50 31.5
24.13 24.13 30.87 23.27 4 22.5 27.5 27.5 25.88
23.45 23.45 33.82 26.44 5 27 23 23 26.33
19.13 19.13 35.04 29.02 6 31.5 18.5 18.5 26.37
16.18 16.18 36.3 31.2 7 25.88 24.13 24.13 30.57
14.96 14.96 37.93 33.22 8 26.33 23.68 23.68 32.54
13.7 13.7 39.39 35.07 9 26.37 23.63 23.63 34.65
12.07 12.07 40.5 36.7 10 30.57 19.43 19.43 34.88
10.61 10.61 41.48 38.13 11 32.54 17.47 17.47 35.75
9.5 9.5 42.41 39.42 12 34.65 15.35 15.35 36.37
8.52 8.52 43.25 40.57 13 34.88 15.12 15.12 37.64
7.59 7.59 43.98 41.59 14 35.75 14.25 14.25 38.62
6.75 6.75 44.63 42.5 15 36.37 13.63 13.63 39.62
6.02 6.02 45.21 43.31 16 37.64 12.36 12.36 40.27
5.37 5.37 45.73 44.04 17 38.62 11.38 11.38 40.95
4.79 4.79 46.2 44.69 18 39.62 10.38 10.38 41.52
4.27 4.27 46.61 45.26 19 40.27 9.73 9.73 42.16
3.8 3.8 46.97 45.78 20 40.95 9.05 9.05 42.73
3.39 3.39 47.3 46.23 21 41.52 8.48 8.48 43.29
3.03 3.03 47.6 46.64 22 42.16 7.84 7.84 43.76
2.7 2.7 47.86 47.01 23 42.73 7.27 7.27 44.21
2.4 2.4 48.09 47.33 24 43.29 6.71 6.71 44.62
2.14 2.14 48.3 47.62 25 43.76 6.24 6.24 45.01
1.91 1.91 48.48 47.88 26 44.21 5.79 5.79 45.37
1.7 1.7 48.65 48.11 27 44.62 5.38 5.38 45.7
1.52 1.52 48.79 48.31 28 45.01 4.99 4.99 46.01
1.35 1.35 48.92 48.5 29 45.37 4.63 4.63 46.3
1.21 1.21 49.04 48.66 30 45.7 4.3 4.3 46.57
1.08 1.08 49.14 48.81 31 46.01 3.99 3.99 46.81
0.96 0.96 49.24 48.93 32 46.3 3.7 3.7 47.04
0.86 0.86 49.32 49.05 33 46.57 3.43 3.43 47.26
0.76 0.76 49.39 49.15 34 46.81 3.19 3.19 47.45
0.68 0.68 49.46 49.25 35 47.04 2.96 2.96 47.64
0.61 0.61 49.52 49.33 36 47.26 2.74 2.74 47.81
0.54 0.54 49.57 49.4 37 47.45 2.55 2.55 47.97
0.48 0.48 49.62 49.46 38 47.64 2.36 2.36 48.11
0.43 0.43 49.66 49.52 39 47.81 2.19 2.19 48.25
0.38 0.38 49.7 49.57 40 47.97 2.03 2.03 48.37
0.34 0.34 49.73 49.62 41 48.11 1.89 1.89 48.49
0.3 0.3 49.76 49.66 42 48.25 1.75 1.75 48.6
0.27 0.27 49.78 49.7 43 48.37 1.63 1.63 48.7
0.24 0.24 49.81 49.73 44 48.49 1.51 1.51 48.79
0.22 0.22 49.83 49.76 45 48.6 1.4 1.4 48.88
0.19 0.19 49.85 49.79 46 48.7 1.3 1.3 48.96
0.17 0.17 49.86 49.81 47 48.79 1.21 1.21 49.04
0.15 0.15 49.88 49.83 48 48.88 1.12 1.12 49.11
0.14 0.14 49.89 49.85 49 48.96 1.04 1.04 49.17
50 49.04 0.96 0.96 49.23
369.25
543.15
INTEGRAL
0
0
0
4.5
9
13.5
15.98
18.05
19.71
21.88
24.01
26.14
27.89
29.46
30.84
32.2
33.48
34.71
35.82
36.85
37.78
38.66
39.47
40.24
40.94
41.6
42.2
42.76
43.28
43.77
44.22
44.63
45.02
45.38
45.71
46.02
46.31
46.57
46.82
47.05
47.26
47.46
47.64
47.81
47.97
48.12
48.25
48.38
48.49
48.6
48.7
48.8
48.88
 DEADTIME = 0, PROPORTIONAL ONLY
50
47.5
45
42.5
40
37.5
35
CONTROLLER OUTPUT

32.5
30
27.5
25
22.5 Column C
20
17.5
15
12.5
10
7.5
5
2.5
0
R R R RR R RR R R RR R RR R R RR R RR R R RR R RR R R RR R RR R R RR R RR R R RR R RR
o o o oo o oo o o oo o oo o o oo o oo o o oo o oo o o oo o oo o o oo o oo o o oo o oo
w w w ww w ww w w ww w ww w w ww w ww w w ww w ww w w ww w ww w w ww w ww w w ww w ww
CONTROLLER ITERATION
Column C
 DEADTIME = 1, PROPORTIONAL ONLY
50
47.5
45
42.5
40
37.5
35
CONTROLLER OUTPUT

32.5
30
27.5
25
22.5 Column B
20
17.5
15
12.5
10
7.5
5
2.5
0
R R R RR R RR R R RR R R RR R RR R R RR R R RR R R RR R RR R R RR R R RR R RR R R RR R
o o o oo o oo o o oo o o oo o oo o o oo o o oo o o oo o oo o o oo o o oo o oo o o oo o
w w w ww w ww w w ww w w ww w ww w w ww w w ww w w ww w ww w w ww w w ww w ww w w ww w
CONTROLLER ITERATION
Column B
 DEADTIME = 2, PROPORTIONAL ONLY
50
47.5
45
42.5
40
37.5
35
CONTROLLER OUTPUT

32.5
30
27.5
25
22.5 Column B
20
17.5
15
12.5
10
7.5
5
2.5
0
R R R RR R RR R R RR R R RR R RR R R RR R R RR R R RR R RR R R RR R R RR R RR R R RR R
o o o oo o oo o o oo o o oo o oo o o oo o o oo o o oo o oo o o oo o o oo o oo o o oo o
w w w ww w ww w w ww w w ww w ww w w ww w w ww w w ww w ww w w ww w w ww w ww w w ww w
CONTROLLER ITERATION
Column B
 ZIEGLER-NICHOLS PROPORTIONAL & INTEGRAL
50
47.5
45
42.5
40
37.5
35
CONTROLLER OUTPUT

32.5
30
27.5
25
22.5 Column B
20
17.5
15
12.5
10
7.5
5
2.5
0
R R R RR R RR R R RR R R RR R RR R R RR R R RR R R RR R RR R R RR R R RR R RR R R RR R
o o o oo o oo o o oo o o oo o oo o o oo o o oo o o oo o oo o o oo o o oo o oo o o oo o
w w w ww w ww w w ww w w ww w ww w w ww w w ww w w ww w ww w w ww w w ww w ww w w ww w
CONTROLLER ITERATION
Column B