PID LOOP SIMULATOR

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

1
1
1

Controller
C + 1/Is + Ds

Set Point
+

Controller
Gain (C)
Integral (I)
Derivative (D)

Output

1.2
0
0.15

Se tPoint / Proce ss Va lue

(All times in seconds)

PID Loop Simulation

Process Value

1.4
1.2
1
0.8
0.6
0.4
0.2

-0.2
Time (sec)

http://www.engineers-excel.com

224
233

188
197
206
215

152
161
170
179

116
125
134
143

71
80
89
98
107

26
35
44
53
62

-10
-1
8
17

LATOR

Output

lation

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

Proces s Value

Process Value

Set Point

Output

1.6
1.4

Output

1.2

0.8
0.6
0.4
0.2

296

260
269
278
287

224
233
242
251

188
197
206
215

161
170
179

0
-0.2
-0.4

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

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

OP

PV

Error

0
0
0
0
0
0
0
0
0
0
1.35
1.2
1.2
0.04796
-0.119843
-0.195797
0.759369
1.144718
1.335385
0.583223
0.068243
-0.247378
0.296457
0.864669
1.294213
0.958217
0.401286
-0.116277
0.020776
0.514602
1.085132
1.128987
0.736704
0.152345
-0.045956
0.220011
0.779329
1.098906
0.970703
0.471457
0.068113
0.059436
0.470127
0.918072
1.052022
0.750009
0.295585
0.056578

0
0
0
0
0
0
0
0
0
0
0
0
0
0.853363
1.072479
1.153088
0.454514
0.091451
-0.090124
0.446858
0.88799
1.170797
0.799379
0.337213
-0.032319
0.175507
0.611141
1.042925
0.989379
0.617633
0.153713
0.069681
0.350925
0.815032
1.01349
0.838528
0.404778
0.11986
0.183167
0.560014
0.900659
0.944935
0.64564
0.280573
0.140788
0.34897
0.708711
0.925725

0
0
0
0
0
0
0
0
0
0
1
1
1
0.146637
-0.072479
-0.153088
0.545486
0.908549
1.090124
0.553142
0.11201
-0.170797
0.200621
0.662787
1.032319
0.824493
0.388859
-0.042925
0.010621
0.382367
0.846287
0.930319
0.649075
0.184968
-0.01349
0.161472
0.595222
0.88014
0.816833
0.439986
0.099341
0.055065
0.35436
0.719427
0.859212
0.65103
0.291289
0.074275

AccumErr
0
0
0
0
0
0
0
0
0
0
1
2
3
3.146637
3.074158
2.92107
3.466556
4.375105
5.465229
6.018371
6.130381
5.959584
6.160204
6.822991
7.85531
8.679803
9.068662
9.025738
9.036358
9.418725
10.26501
11.19533
11.84441
12.02937
12.01588
12.17736
12.77258
13.65272
14.46955
14.90954
15.00888
15.06394
15.4183
16.13773
16.99694
17.64797
17.93926
18.01354

38
39
40
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

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

0.239079
0.66537
0.983066
0.921538
0.552427
0.185948
0.133758
0.42371
0.808117
0.959322
0.762564
0.389634
0.159858
0.25757
0.593105
0.877263
0.876628
0.599327
0.286638
0.199091
0.403463
0.719192
0.880402
0.757003
0.461555
0.245232
0.28624
0.54175
0.792336
0.829015
0.628353
0.364921
0.260469
0.396758
0.652673
0.810976
0.743005
0.512534
0.316924
0.317977
0.508595
0.723793
0.783514
0.642917
0.425627
0.315131
0.400125
0.603489
0.751991

0.814651
0.486539
0.214752
0.23013
0.505254
0.807289
0.879508
0.672753
0.365034
0.218839
0.348342
0.638976
0.841473
0.791593
0.537507
0.298787
0.272733
0.475247
0.72937
0.822455
0.681411
0.431867
0.284725
0.359782
0.586972
0.772455
0.762688
0.572336
0.365566
0.315422
0.458489
0.66952
0.77034
0.680587
0.481048
0.341616
0.376472
0.551065
0.71536
0.732835
0.593578
0.418699
0.355031
0.452102
0.623843
0.724774
0.673031
0.516642
0.389263

0.185349
0.513461
0.785248
0.76987
0.494746
0.192711
0.120492
0.327247
0.634966
0.781161
0.651658
0.361024
0.158527
0.208407
0.462493
0.701213
0.727267
0.524753
0.27063
0.177545
0.318589
0.568133
0.715275
0.640218
0.413028
0.227545
0.237312
0.427664
0.634434
0.684578
0.541511
0.33048
0.22966
0.319413
0.518952
0.658384
0.623528
0.448935
0.28464
0.267165
0.406422
0.581301
0.644969
0.547898
0.376157
0.275226
0.326969
0.483358
0.610737

18.19889
18.71235
19.49759
20.26747
20.76221
20.95492
21.07541
21.40266
22.03763
22.81879
23.47045
23.83147
23.99
24.1984
24.6609
25.36211
26.08938
26.61413
26.88476
27.06231
27.3809
27.94903
28.6643
29.30452
29.71755
29.94509
30.18241
30.61007
31.24451
31.92908
32.47059
32.80107
33.03073
33.35015
33.8691
34.52748
35.15101
35.59995
35.88459
36.15175
36.55817
37.13947
37.78444
38.33234
38.7085
38.98372
39.31069
39.79405
40.40479

87
88
89
90
91
92
93
94
95
96
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98
99
100
101
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

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

0.723616
0.547692
0.37553
0.35049
0.488714
0.669801
0.741462
0.647496
0.471501
0.362773
0.409757
0.568319
0.702747
0.701797
0.570592
0.422642
0.381772
0.478612
0.628052
0.703876
0.645256
0.505346
0.40334
0.423028
0.544106
0.662431
0.679487
0.584305
0.459796
0.410656
0.47542
0.596472
0.671133
0.638672
0.52957
0.437199
0.437998
0.528317
0.630025
0.658002
0.591294
0.488524
0.436486
0.476921
0.573172
0.643243
0.62958
0.546252
0.464927

0.396129
0.527205
0.669297
0.703633
0.60506
0.459969
0.390765
0.452681
0.589927
0.685716
0.661556
0.541418
0.428493
0.416649
0.512523
0.632768
0.676403
0.609517
0.49139
0.422098
0.457822
0.565427
0.652944
0.648084
0.557856
0.460183
0.436697
0.504593
0.604365
0.651851
0.609154
0.514741
0.448947
0.465681
0.548357
0.625966
0.633998
0.567987
0.485313
0.455404
0.501494
0.582741
0.630315
0.605649
0.531612
0.471481
0.47492
0.537027
0.604168

0.603871
0.472795
0.330703
0.296367
0.39494
0.540031
0.609235
0.547319
0.410073
0.314284
0.338444
0.458582
0.571507
0.583351
0.487477
0.367232
0.323597
0.390483
0.50861
0.577902
0.542178
0.434573
0.347056
0.351916
0.442144
0.539817
0.563303
0.495407
0.395635
0.348149
0.390846
0.485259
0.551053
0.534319
0.451643
0.374034
0.366002
0.432013
0.514687
0.544596
0.498506
0.417259
0.369685
0.394351
0.468388
0.528519
0.52508
0.462973
0.395832

41.00866
41.48146
41.81216
42.10852
42.50347
43.0435
43.65273
44.20005
44.61012
44.92441
45.26285
45.72143
46.29294
46.87629
47.36377
47.731
48.0546
48.44508
48.95369
49.53159
50.07377
50.50834
50.8554
51.20732
51.64946
52.18928
52.75258
53.24799
53.64362
53.99177
54.38262
54.86788
55.41893
55.95325
56.40489
56.77892
57.14493
57.57694
58.09163
58.63622
59.13473
59.55199
59.92167
60.31602
60.78441
61.31293
61.83801
62.30098
62.69682

136
137
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143
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154
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160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184

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

0.453312
0.518854
0.604463
0.638158
0.593522
0.510259
0.458993
0.481418
0.556489
0.61996
0.619312
0.557137
0.487218
0.468068
0.514019
0.584695
0.620407
0.592516
0.526301
0.478167
0.487647
0.544996
0.60089
0.608799
0.563668
0.504805
0.481701
0.512465
0.569734
0.604937
0.589444
0.53779
0.494177
0.494691
0.537491
0.585557
0.598665
0.567012
0.518408
0.4939
0.513138
0.55869
0.591754
0.585177
0.545709
0.507293
0.501908
0.532984
0.573457

0.620232
0.573467
0.504857
0.472275
0.501718
0.566665
0.611857
0.600267
0.543371
0.490034
0.484588
0.530038
0.58688
0.607381
0.575621
0.51974
0.487077
0.504108
0.555048
0.596363
0.593931
0.551181
0.505027
0.494041
0.526251
0.573432
0.595788
0.575484
0.530806
0.499766
0.507793
0.546947
0.583604
0.587296
0.556002
0.516921
0.502869
0.524755
0.563189
0.585614
0.573855
0.538806
0.51042
0.512138
0.541565
0.57329
0.580804
0.558619
0.526175

0.379768
0.426533
0.495143
0.527725
0.498282
0.433335
0.388143
0.399733
0.456629
0.509966
0.515412
0.469962
0.41312
0.392619
0.424379
0.48026
0.512923
0.495892
0.444952
0.403637
0.406069
0.448819
0.494973
0.505959
0.473749
0.426568
0.404212
0.424516
0.469194
0.500234
0.492207
0.453053
0.416396
0.412704
0.443998
0.483079
0.497131
0.475245
0.436811
0.414386
0.426145
0.461194
0.48958
0.487862
0.458435
0.42671
0.419196
0.441381
0.473825

63.07658
63.50312
63.99826
64.52599
65.02427
65.4576
65.84574
66.24548
66.70211
67.21207
67.72749
68.19745
68.61057
69.00319
69.42757
69.90783
70.42075
70.91664
71.36159
71.76523
72.1713
72.62012
73.11509
73.62105
74.0948
74.52137
74.92558
75.3501
75.81929
76.31952
76.81173
77.26478
77.68118
78.09388
78.53788
79.02096
79.51809
79.99334
80.43015
80.84453
81.27068
81.73187
82.22145
82.70932
83.16775
83.59446
84.01366
84.45504
84.92886

185
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213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
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229
230
231
232
233

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

0.589299
0.568096
0.528705
0.504533
0.515236
0.550778
0.580746
0.580345
0.550882
0.51784
0.508868
0.530672
0.564096
0.580916
0.567646
0.536309
0.513596
0.518159
0.545322
0.571725
0.575391
0.553992
0.526164
0.515302
0.529915
0.557009
0.573607
0.566213
0.541758
0.521166
0.521474
0.541756
0.56447
0.570611
0.555592
0.532606
0.521063
0.530216
0.551774
0.567376
0.56421
0.545516
0.52737
0.524875
0.539609
0.558743
0.56619
0.55612
0.537484

0.510835
0.524836
0.55557
0.576891
0.571332
0.544387
0.519194
0.516692
0.538238
0.565108
0.57474
0.559659
0.533224
0.517828
0.525947
0.550062
0.569565
0.568352
0.548097
0.526288
0.52115
0.53643
0.558741
0.569266
0.559611
0.538469
0.523825
0.527674
0.546217
0.563531
0.565226
0.550391
0.531917
0.525316
0.535708
0.553889
0.564459
0.558854
0.542262
0.528862
0.529718
0.54366
0.558651
0.562165
0.551641
0.536299
0.529077
0.535735
0.550279

0.489165
0.475164
0.44443
0.423109
0.428668
0.455613
0.480806
0.483308
0.461762
0.434892
0.42526
0.440341
0.466776
0.482172
0.474053
0.449938
0.430435
0.431648
0.451903
0.473712
0.47885
0.46357
0.441259
0.430734
0.440389
0.461531
0.476175
0.472326
0.453783
0.436469
0.434774
0.449609
0.468083
0.474684
0.464292
0.446111
0.435541
0.441146
0.457738
0.471138
0.470282
0.45634
0.441349
0.437835
0.448359
0.463701
0.470923
0.464265
0.449721

85.41803
85.89319
86.33762
86.76073
87.1894
87.64501
88.12582
88.60912
89.07089
89.50578
89.93104
90.37138
90.83816
91.32033
91.79438
92.24432
92.67475
93.1064
93.55831
94.03202
94.51087
94.97444
95.4157
95.84643
96.28682
96.74835
97.22453
97.69685
98.15063
98.5871
99.02188
99.47149
99.93957
100.4143
100.8785
101.3247
101.7602
102.2013
102.6591
103.1302
103.6005
104.0568
104.4982
104.936
105.3844
105.8481
106.319
106.7833
107.233

234
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1
1
1
1
1
1
1
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