PID LOOP SIMULATOR

Process
Gain (K)
Time Constant (T)
Delay (L)

1.5
120
23

Controller
C + 1/Is + Ds

Set Point

230

Output

+
-

Controller
Gain (C)
Integral (I)
Derivative (D)
(All times in seconds)

2.94
34.42
0

294
3442
0

PID Loop Simulation

2

1.8

SetPoint / Process Value

1.6

1.4
1.2

1
0.8

0.6
0.4

0.2

Time (sec)

http://www.engineers-excel.com

190

180

170

160

150

140

130

120

110

100

90

80

70

60

50

40

30

20

10

-10

ATOR
Output

Process
K/(1+Ts) * e^(-Ls)

Process Value

Process Value

Set Point

Output

3.5
3

2.5

1.5

Output

0.5
0

-0.5
300

290

280

270

260

250

240

230

220

210

200

190

-1

SP
-10
-9
-8
-7
-6
-5
-4
-3
-2
-1
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40

OP
0
0
0
0
0
0
0
0
0
0
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1

0
0
0
0
0
0
0
0
0
0
0
2.969053
2.998106
3.027159
3.056212
3.085264
3.114317
3.14337
3.172423
3.201476
3.230529
3.259582
3.288635
3.317687
3.34674
3.375793
3.404846
3.433899
3.462952
3.492005
3.521058
3.55011
3.579163
3.608216
3.637269
3.556589
3.474672
3.391518
3.307126
3.221497
3.13463
3.046525
2.957181
2.866599
2.774778
2.681719
2.58742
2.491881
2.395103
2.297085
2.197827

PV
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0.036959
0.073973
0.111041
0.148164
0.18534
0.222569
0.259851
0.297185
0.334571
0.372008
0.409496
0.447035
0.484624
0.522263
0.559951
0.597688
0.635473

Error
0
0
0
0
0
0
0
0
0
0
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
0.963041
0.926027
0.888959
0.851836
0.81466
0.777431
0.740149
0.702815
0.665429
0.627992
0.590504
0.552965
0.515376
0.477737
0.440049
0.402312
0.364527

AccumErr
0
0
0
0
0
0
0
0
0
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
24.96304
25.88907
26.77803
27.62986
28.44452
29.22195
29.9621
30.66492
31.33035
31.95834
32.54885
33.10181
33.61719
34.09492
34.53497
34.93729
35.30181

41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92

1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1

2.097329
1.99559
1.89261
1.78839
1.682928
1.576225
1.46828
1.359094
1.252721
1.149213
1.048622
0.951
0.856397
0.764866
0.676459
0.591226
0.50922
0.430493
0.355096
0.283081
0.2145
0.149405
0.087848
0.02988
-0.02445
-0.07508
-0.12196
-0.16505
-0.20429
-0.23963
-0.27102
-0.29839
-0.32186
-0.34152
-0.35748
-0.36983
-0.37869
-0.38416
-0.38635
-0.38538
-0.38135
-0.3744
-0.36462
-0.35216
-0.33713
-0.31965
-0.29985
-0.27787
-0.25383
-0.22787
-0.20012
-0.17073

0.673306
0.711187
0.749116
0.787091
0.825113
0.863181
0.901294
0.938088
0.973556
1.007694
1.040499
1.071965
1.10209
1.130867
1.158293
1.184365
1.209077
1.232425
1.254406
1.275015
1.294248
1.312102
1.328572
1.343654
1.357345
1.36964
1.380536
1.390028
1.398114
1.404789
1.410049
1.413941
1.416513
1.417811
1.417883
1.416777
1.41454
1.411222
1.40687
1.401534
1.395262
1.388103
1.380108
1.371325
1.361804
1.351597
1.340752
1.329321
1.317355
1.304904
1.292021
1.278756

0.326694
0.288813
0.250884
0.212909
0.174887
0.136819
0.098706
0.061912
0.026444
-0.00769
-0.0405
-0.07197
-0.10209
-0.13087
-0.15829
-0.18436
-0.20908
-0.23243
-0.25441
-0.27502
-0.29425
-0.3121
-0.32857
-0.34365
-0.35734
-0.36964
-0.38054
-0.39003
-0.39811
-0.40479
-0.41005
-0.41394
-0.41651
-0.41781
-0.41788
-0.41678
-0.41454
-0.41122
-0.40687
-0.40153
-0.39526
-0.3881
-0.38011
-0.37132
-0.3618
-0.3516
-0.34075
-0.32932
-0.31735
-0.3049
-0.29202
-0.27876

35.62851
35.91732
36.1682
36.38111
36.556
36.69282
36.79152
36.85344
36.87988
36.87219
36.83169
36.75972
36.65763
36.52677
36.36847
36.18411
35.97503
35.74261
35.4882
35.21318
34.91894
34.60683
34.27826
33.93461
33.57726
33.20762
32.82709
32.43706
32.03894
31.63416
31.22411
30.81017
30.39365
29.97584
29.55796
29.14118
28.72664
28.31542
27.90855
27.50702
27.11175
26.72365
26.34354
25.97222
25.61041
25.25882
24.91807
24.58875
24.27139
23.96649
23.67446
23.39571

93
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97
98
99
100
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102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144

1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1

-0.13983
-0.10756
-0.07408
-0.03952
-0.00403
0.032247
0.069178
0.106629
0.144472
0.182581
0.220835
0.259116
0.297311
0.335311
0.373012
0.410311
0.447114
0.483329
0.518868
0.553649
0.587595
0.620633
0.652694
0.683716
0.713642
0.742419
0.769999
0.796341
0.821408
0.845169
0.867597
0.888671
0.908374
0.926694
0.943623
0.959158
0.9733
0.986053
0.997428
1.007435
1.016092
1.023418
1.029436
1.034172
1.037655
1.039917
1.040992
1.040916
1.039729
1.037471
1.034185
1.029915

1.265161
1.251288
1.237189
1.222916
1.208516
1.194037
1.179524
1.165022
1.150571
1.136214
1.121988
1.107929
1.094075
1.080456
1.067106
1.054054
1.041328
1.028953
1.016956
1.005356
0.994177
0.983435
0.973149
0.963332
0.953999
0.94516
0.936824
0.929
0.921692
0.914904
0.908639
0.902897
0.897676
0.892976
0.888791
0.885116
0.881945
0.879269
0.87708
0.875367
0.874119
0.873324
0.872968
0.873038
0.873519
0.874394
0.875649
0.877266
0.879227
0.881516
0.884113
0.887001

-0.26516
-0.25129
-0.23719
-0.22292
-0.20852
-0.19404
-0.17952
-0.16502
-0.15057
-0.13621
-0.12199
-0.10793
-0.09407
-0.08046
-0.06711
-0.05405
-0.04133
-0.02895
-0.01696
-0.00536
0.005823
0.016565
0.026851
0.036668
0.046001
0.05484
0.063176
0.071
0.078308
0.085096
0.091361
0.097103
0.102324
0.107024
0.111209
0.114884
0.118055
0.120731
0.12292
0.124633
0.125881
0.126676
0.127032
0.126962
0.126481
0.125606
0.124351
0.122734
0.120773
0.118484
0.115887
0.112999

23.13055
22.87926
22.64207
22.41916
22.21064
22.0166
21.83708
21.67206
21.52149
21.38527
21.26328
21.15535
21.06128
20.98082
20.91372
20.85966
20.81834
20.78938
20.77243
20.76707
20.77289
20.78946
20.81631
20.85298
20.89898
20.95382
21.01699
21.08799
21.1663
21.2514
21.34276
21.43986
21.54219
21.64921
21.76042
21.87531
21.99336
22.11409
22.23701
22.36165
22.48753
22.6142
22.74123
22.8682
22.99468
23.12028
23.24464
23.36737
23.48814
23.60663
23.72251
23.83551

145
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156
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161
162
163
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167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196

1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1

1.024707
1.018609
1.011667
1.003932
0.995452
0.986279
0.976461
0.966051
0.955099
0.943655
0.931771
0.919495
0.906879
0.89397
0.880816
0.867466
0.853964
0.840357
0.826688
0.813
0.799334
0.78573
0.772227
0.75886
0.745665
0.732676
0.719924
0.707438
0.695248
0.683379
0.671856
0.660701
0.649935
0.639577
0.629644
0.620152
0.611113
0.602539
0.594441
0.586825
0.579699
0.573068
0.566934
0.561299
0.556162
0.551523
0.547379
0.543725
0.540556
0.537864
0.535642
0.533881

0.890161
0.893573
0.89722
0.901082
0.90514
0.909374
0.913767
0.9183
0.922954
0.927711
0.932552
0.937462
0.942422
0.947415
0.952426
0.957439
0.962439
0.96741
0.972339
0.977213
0.982017
0.986742
0.991373
0.995902
1.000317
1.004609
1.008769
1.012789
1.016661
1.020379
1.023937
1.027329
1.03055
1.033596
1.036465
1.039152
1.041657
1.043977
1.046112
1.04806
1.049824
1.051402
1.052797
1.05401
1.055044
1.055902
1.056585
1.057099
1.057447
1.057633
1.057662
1.05754

0.109839
0.106427
0.10278
0.098918
0.09486
0.090626
0.086233
0.0817
0.077046
0.072289
0.067448
0.062538
0.057578
0.052585
0.047574
0.042561
0.037561
0.03259
0.027661
0.022787
0.017983
0.013258
0.008627
0.004098
-0.00032
-0.00461
-0.00877
-0.01279
-0.01666
-0.02038
-0.02394
-0.02733
-0.03055
-0.0336
-0.03646
-0.03915
-0.04166
-0.04398
-0.04611
-0.04806
-0.04982
-0.0514
-0.0528
-0.05401
-0.05504
-0.0559
-0.05659
-0.0571
-0.05745
-0.05763
-0.05766
-0.05754

23.94535
24.05178
24.15456
24.25348
24.34834
24.43896
24.5252
24.6069
24.68394
24.75623
24.82368
24.88622
24.9438
24.99638
25.04395
25.08651
25.12408
25.15667
25.18433
25.20711
25.2251
25.23836
25.24698
25.25108
25.25076
25.24615
25.23739
25.2246
25.20794
25.18756
25.16362
25.13629
25.10574
25.07214
25.03568
24.99653
24.95487
24.91089
24.86478
24.81672
24.7669
24.71549
24.6627
24.60869
24.55364
24.49774
24.44116
24.38406
24.32661
24.26898
24.21131
24.15377

197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248

1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1

0.53257
0.531698
0.531254
0.531223
0.531593
0.532349
0.533475
0.534956
0.536776
0.538918
0.541364
0.544098
0.547101
0.550356
0.553844
0.557548
0.561449
0.565529
0.569769
0.574153
0.578663
0.583279
0.587987
0.592767
0.597605
0.602483
0.607385
0.612297
0.617204
0.622091
0.626944
0.631751
0.636498
0.641173
0.645766
0.650264
0.654659
0.65894
0.663098
0.667126
0.671016
0.674761
0.678355
0.681791
0.685067
0.688176
0.691115
0.693882
0.696474
0.698889
0.701126
0.703184

1.05727
1.05686
1.056313
1.055638
1.054839
1.053923
1.052896
1.051766
1.050538
1.04922
1.047817
1.046338
1.044788
1.043175
1.041505
1.039785
1.038022
1.036221
1.03439
1.032535
1.030662
1.028776
1.026884
1.024992
1.023105
1.021227
1.019365
1.017523
1.015706
1.013917
1.012162
1.010444
1.008767
1.007135
1.00555
1.004016
1.002534
1.001109
0.999741
0.998434
0.997188
0.996005
0.994887
0.993833
0.992847
0.991927
0.991074
0.990288
0.98957
0.988918
0.988333
0.987815

-0.05727
-0.05686
-0.05631
-0.05564
-0.05484
-0.05392
-0.0529
-0.05177
-0.05054
-0.04922
-0.04782
-0.04634
-0.04479
-0.04318
-0.04151
-0.03979
-0.03802
-0.03622
-0.03439
-0.03253
-0.03066
-0.02878
-0.02688
-0.02499
-0.0231
-0.02123
-0.01937
-0.01752
-0.01571
-0.01392
-0.01216
-0.01044
-0.00877
-0.00713
-0.00555
-0.00402
-0.00253
-0.00111
0.000259
0.001566
0.002812
0.003995
0.005113
0.006167
0.007153
0.008073
0.008926
0.009712
0.01043
0.011082
0.011667
0.012185

24.0965
24.03964
23.98333
23.92769
23.87285
23.81893
23.76604
23.71427
23.66373
23.61451
23.56669
23.52036
23.47557
23.43239
23.39089
23.3511
23.31308
23.27686
23.24247
23.20994
23.17927
23.1505
23.12361
23.09862
23.07552
23.05429
23.03492
23.0174
23.0017
22.98778
22.97562
22.96517
22.9564
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249
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