Graphical Method

Open Loop Test

Run 1 :

PV = -18 %
MV = -10 %
RR = 0.72
t = 2.5 s
Td = 0.8 s

Mode
P
PI
PID

P
57.6
63.99
47.98

2.66
1.6

0.4

0.23
0.14

0.04

Run 2 :

PV = 17 %
MV = 10 %
RR = 0.65
t = 2.6 s
Td = 0.7 s

Mode
P
PI
PID
Run 3 :

PV = 10.18 %
MV = 10 %
RR = 0.58
t = 1.75 s
Td = 0.1 s

P
4.55
5.06
3.79

Mode
P
PI
PID

P
5.8
6.44
4.83

0.33
0.2

0.05

1.07
0.65

0.16

Close Loop Test

By using Ziegler-Nichols method Average PID Value:
Mode
P
PI
PID

P
22.65
25.16
18.87

Optimum Values for close loop test :

-

P = 100.64
I = 0.27

Disturbance Test:
-

MVi = 54.41
MVf = 64.41

Set Point Test:

-

Setpointi = 1.65
Setpointf = 1.82

Sample Calculation
To find the PV:
PV = PVf PVi
= 46 64
= -18 %
To find the value of RR:

RR =

PV
t
MV

18
2.5
10

= 0.72

Calculation using Ziegler-Nichols method :

Mode
P

P
100 RR Td

= 100(0.72)(0.8)
PI

PID

= 57.6
111.1 RR Td

3.33 Td

= 111.1(0.72)(0.8)

= 3.33(0.8)

= 63.99
83.3 RR Td

= 2.66
2 Td

0.5 Td

= 83.3(0.72)(0.8)

= 2(0.8)

= 0.5(0.8)

= 47.98

= 1.6

=0.4

Recommendation

1. Calculation of RR should be four or more decimal places. This may give more accurate
data and leads to better values of P, I and D.

2. The eyes position when measuring the distance on the graph for Td and Tc must be
perpendicular to the ruler to avoid parallax error
3. While fine tuning, if process oscillates, adjust the P (by dividing by 4). If oscillation
persists, keep reducing the P.
4. It is recommended to adjust P and I values one by one not simultaneously. Adjusting P
and I simultaneously can lead to worst oscillation of the process or even leads to offset.
5. There are other methods for RR and Td calculation for the open loop such as
Reformulated Tangent Method. These methods could also be used and compared with
the current method used in this experiment so that the data could be more feasible