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Contents
L. lntrod uction
2. Deflnition of P, I and D in contrnller design
3. ?, Pl, and PID ideal controller structure
4.. Determinaticn *f

R PI, PID pararneter

using open-lcap nrethod.
4.1 Ziegler Nichols Tuning rules

4.2 Cahen Coon Tunlng Forn:ulae

4.3 Determination nf process Gair'!, K,
Time ecnstant, and Time Delay using
Frmcess Reactian Curve
4.4 Exannple PID controller {ZN}

5. Suggestlon

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The objective of control system design and implementation is to regulate

the value of certain variables at the desired value intended to meet
certain specification such as environment emission restrictions, maintain
product quality and comply with certain safety guideline

Two general approaches in designing controller namely:

a)

TraditionalaPProach

controller setting or tuning is carried out after the controller

being installed at the Plant

is

b) Model based aPProach

Consist several step as shown in Figure 1

DsnloD mth.mdol
ecu.don fur tlE stem
{n/ro&[tt31

-HEt prhch.l
-Empki6l
-sffii-Emparh.l

'

What your have learn this semester?

Mahematical model based on fust
principle approach.

- ' J> .

No*es:

Enrpirical aPProach.'ARX, ARMNL

NARX, NARMAX,

FOPDT,

SOPDTandmanY more
What your will learn this semester?

'-' I o

kad-lagcompensator
.P, PI and PID

Figure 1: Model based conkol desiP

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.
.

P Pl, and PID is the most well known feedback controller.

PID

controller, PID is the most controller used in industry.

The survey of more than 11SO controller in industries, indicated that more than 97% of
industry used PID controller feedback algorithm.

Why choose PID controller.

The popularity of PID controller among industry sector is due to its simplicity that
provide
caused this controller easily to understand by controt engineer and able to
satisfactory performance in wide range of practical situation.
Moreover, the plD controller combined allthree controller action which is proportional
D
action, p (present element), integral action, I {past element) and derivative action,
(future element). These combination caused PID has capability in providing zero steady
state error due to integral action and able to predict the future due to derivative action.

Proportionalterm (presentelement)
To speed up the closed loop response. The proportional term minimizes but does not
eliminate the steady state error or offset.

lntegralterm (Past element)

To eliminates the offset or steady state error. This term also speed up the system
response but at cost of sustained oscillations.

Derivative term (Future element)

The introduction of derivative action means that changes in the desired value may be
anticipated and thus an appropriate correction may be added prior to the actual change.

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3. ldeat Structure of P, Pl, and PID controller

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4. Determination of P, Pl, PID parameter

using open-loop Method.

. The performance

of P, Pl and plD controller are highly depending on the

selection of controller parameter (the value of p, p! and plD).

There are two method in tuning p, pl, and plD parameter either using open
lo*p methcd or *ls**d loop rn*thod.

'

However in this class, *nly oper: lo*p n'r*thsd ar* er:nsid*red.

Two well known open loop tuning method are known as;

, zieg$er Nich*is tuning rure* (r-uning Formulae are shown in Table

. f;*hen caon tuning rul*s ( Tuning Formula are shown in Tabte 2

1)

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where,K:Process Gain, z=Time constant, d:Time Delay

Table 1: Ziegler Nichols Tuning Formulae

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7""

From the Figure 6

Process gain,

response
* - chang:-of outpyt
Change of inPut(B)

(A)

A=112-26=86
B=5-0=5
Process ga", K

=99*ofl '2

Time Delay, d estimated from the graph (Figure 6) x25O

Estimated M from the graph (Figure 6) = 2050
Therefore the Time coostant,
the following formulae

are estirnated with

r =M-0 =2050 -250 *1800

K x17.2
x250
Time delay, 0
Timeconstant,r=1800

Process Gain,

From the value obtained, yql-ca4_g_alculate the PID parameter

;q.jii:[i,:ll+i:]:::f.*,:saj:r.:!:gi:-:.,
of the system

I
model

-G(s)=ffi:X;
G(s)='!'J
1800 s+1
r(s) -!7-'?":'*"

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ine the PID parameter from estimated value

of Process gain K, Time Delay, 0 andTime constant, r.

From formula given for Ziegler Nichols tuning formula shown in Table I

Proportional sain,

K,:#=

ffiffi

- 0.5a2326

IntegralTime, T, -- 20 = 2(250) = 500

Therefore, Integral Gain, K, =

5Ts: 059?]26
500s-

0'001005
,s

Derivative Time, T, = 0.50 = 0.5(250) = 125

Therefore, Integral Gain, K, : K,Tos = 0.502326(125)s

- 62.8s

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The characteristics open loop test for temperature of

chemical reactor with 100% step input are as shown in
Figure 5. Design the PID controller using Ziegler Nichols
tuning rules to regulated the temperature of the reactor at
90 celcius.
The transfer function of the system is described below:

s + 0.0001854

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ln order to get better transient response such as, reduction in percentages overshoot or
faster the settling time, several method are suggested;
Retune PID parameter (try and error) based on calculated value
Adding anti-windup
Hybrid with other cortroller such as fuzzy, neural network for self tuning.

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