Lecture 3

Tuning of PID controller

Dr. Sadeq Al-Majidi

Dept. Of Electrical Engineering/ College

of engineering/ Misan University
Control Engineering
Fourth Year
OUTLINE

• Tuning of PID
• First method: continuous cycling
• Second method: process rection
• Example

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Tuning of PID controller
• The process of setting the optimal gains for P, I and D to get
an ideal response from a control system is called tuning.
• There are different methods of tuning of which the “guess
and check” method and the Ziegler Nichols method will be
discussed.
• In guess and check method, the KI and KD are set to zero
first and the proportional gain is increased until the output of
the loop oscillates.
• As one increases the Kp, the system becomes faster.
• Once Kp has been set to obtain a desired fast response, the
integral term is increased to stop the oscillations.
• Increasing KD decreases overshoot and yields higher gain
with stability.
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Ziegler Nichols method

1. First method: continuous cycling

2. Second method : process rection

• First method: continuous cycling

• It is a popular method of tuning a PID controller. It is very
similar to the trial-and-error method wherein KI and KD are
set to zero and KP is increased until the loop starts to
oscillate.
• Once oscillation starts, the critical gain Kc (Ku) and the
period of oscillations Tc (Tu) are noted. The KP, KI and KD
are then adjusted as per the tabular column.

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• First way: continuous cycling

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Example : Consider the control system shown in Figure below in which a PID
controller is used to control the system. Find the K, Ti and Td?

• The PID controller has the transfer function:

• To find the Kc, Ti = infinity Td= 0: G(S) = Kp

• we obtain the closed-loop transfer function as follows:

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• The value of Kp that makes the system marginally stable so that sustained
oscillation occurs can be obtained by use of Routh’s stability criterion. Since the
characteristic equation for the closed-loop system is

• The Routh array becomes as follows:

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• Examining the coefficients of the first column of the Routh table, we find that
sustained oscillation will occur if Thus, the critical gain Kc =30.
• Now, the characteristic equation becomes:

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• To find the frequency of the sustained oscillation, we substitute S=jw into this
characteristic equation as follows:

• From which we find the frequency of the sustained oscillation to be root(5). Hence, the
period of sustained oscillation is

• According to the table of first method, we determine and as follows:

• Kp=0.6Ku=18
• Ti=0.5Ku=1.405
• Td=0.125Pu=0.35124

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Second method : process rection

• This method is applied to plants with step responses.

• This type of response is typical of a first order system
with transportation delay.
• The response is characterized by two parameters, D the
delay time and R the tangential slop.
• These are found by drawing a tangent to the step
response at its point of inflection and noting its
intersections with the time axis and the steady state
value.
• After the R and D are noted. The KP, KI and KD are then
adjusted as per the tabular column.

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Example: The process rection curve of temperature control
system shows in Figure below: find the K of PID ?
Solution:

R= 0.0306
D=1.55

Ti=Kp/Ki ….Ki=26.144/3=8.7
Td=Kd/Kp….Kd=0.75*26.144=
19.6

Presentation Title 11