CHARLES DARWIN UNIVERSITY

CHARLES DARWIN UNIVERSITY

Chapter 8 The PID controller compared to
PID Controllers and Modified PID Proportional Control
Controllers – D for improving phase margin (= improving
stability) and higher bandwidth (= improving
high frequency performance)
– I for improving steady state accuracy (=
– Introduction (8.1) improving low frequency performance)

– Ziegler-Nichols Rules for Tuning PID – Two methods available for tuning PID
Controllers (8.2) controllers on site, both called Ziegler-
Nichols rules.
Chapter 10.1 Chapter 10.2

CHARLES DARWIN UNIVERSITY

CHARLES DARWIN UNIVERSITY

10.2 Tuning Rules for PID Controllers

– Goal of these rules is to tune the P, PI or

PID controller such that the closed loop
response has:
• overshoot = around 25% (10% - 60%)
• low rise time
• low settling time

Chapter 10.3 Chapter 10.4

CHARLES DARWIN UNIVERSITY

CHARLES DARWIN UNIVERSITY

Which controller should be used? Ziegler-Nichols rules based on open

loop step response (first method)
– This method cannot be applied for systems
– use P to improve bandwidth
which have:
• integrators
– use PI to improve bandwidth and steady • dominant complex poles
state response • right half plane poles (unstable)
• right half plane zeros (non-minimum phase
behaviour)
– use PID to improve bandwidth in
comparison to P or PI
– Open loop system must have an S-shape
step response!
Chapter 10.5 Chapter 10.6

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CHARLES DARWIN UNIVERSITY

Step 1, determine systems response
– measure open-loop step response

Step 2, modelling of system as first order

with time delay
– determine T (time constant of first order
system) and L (approximate time delay of
system)
K⋅ e− Ls
Gm (s) =
Ts + 1

Chapter 10.7 Chapter 10.8

CHARLES DARWIN UNIVERSITY

CHARLES DARWIN UNIVERSITY

Step 3, tuning of controller Ziegler-Nichols rules based on

– select P, PI or PID controller and tune increasing Kp (second method)
according to table 8-1: – This method cannot be applied for systems
which have:
• right half plane poles (unstable)
• root loci that do not cross the imaginary axis
– This method can be applied to systems
with:
• integrators
• complex poles
• right half plane zeros (non-minimum phase
behaviour)
Chapter 10.9 Chapter 10.10
CHARLES DARWIN UNIVERSITY
CHARLES DARWIN UNIVERSITY

Step 1
– set Ti = infinity, Td = 0 and
Kp = 0

Step 2
– increase Kp from 0 up to the value that the
systems starts to oscillate (root-locus
crosses imaginary axis)
– determine the oscillation period Pcr

Chapter 10.11 Chapter 10.12

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CHARLES DARWIN UNIVERSITY

Step 3, tuning of controller General comments
– select P, PI or PID controller and tune
PID controllers
according to table 8-2

– most widely used controller in industry

because:
• can be tuned without a mathematical model
• simple controller
• widely available, standard on all process
computers
– you have to be able to tune a PID controller
in practice!
Chapter 10.13 Chapter 10.14