ZIEGLER NICHOLS PID

TUNING MEHODS

1. OPEN LOOP TUNING RULE :

1.1. Introduction :
The open loop method allows to calculate PID parameters from the process parameters.
The process reaction curve is an approximate model of the process, assuming the
process behaves as a first order plus deadtime system. The process reaction curve is
identified by doing an open loop step test of the process and identifying process model
parameters.
1.2. Procedure:

Step 1: Make an open loop plant test (e.g. a step test, but note that the step must be
big enough to see a significant change in the process value. A rule of thumb is the
signal to noise ratio should be greater than 5).

Step 2: Determine the process parameters: Process gain, deadtime, time constant
(see below: draw a tangent through the inflection point and measure and as
shown).

Step 3: Calculate the parameters according to the following formulas and table (next
page) :
K = the process gain K =

change in process value

change in manipulated value

1/2

Type
P

Kd
1

K

Ti

Td

0.9

3.33
K
1.2

PID
2.0
0.5
K
Recommanded range of applicability 1.0 < (/) < 0.1

PI

2. CLOSED LOOP TUNING RULE :

Ziegler-Nichols closed loop tuning is based on stability margins. To identify process
parameters:

Step 1: Disable any D and I action of the controller (--> pure P-controller)

Step 2: Make a setpoint step test and observe the response

Step 3: Repeat the etpoint test with increased / decreased controller gain until a
stable oscillation is achieved. This gain is called the "ultimate gain" Ku.

Step 4: Read the oscillation period Tosc.

Step 5: Calculate the parameters according to the following table :

Type
P
PI
PID

Kd
0.5Ku
0.45Ku
0.6Ku

Ti

Td

Tosc
1.2
Tosc
2.0

Tosc
8.0

2/2