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By: M.Sc Doaa Abas K.

Lecture Objectives
⯈Learning the fundamental concepts of PID controller.
⯈Realizing the effects of the PID controller modes.
⯈Learning the basic control algorithms, and defining the main
differences between them.
⯈Identifyingthe concept of tuning.
⯈Learning the Zeigler-Nichols tuning rules for PID controller.
Introduction
⯈ Proportional Integral Derivative (PID)
controller is the most feedback control
algorithm widely used in the process industries
due to its accuracy and stability. It became an
essential tool when process control emerged in
1940s.
⯈ PID control is a well-known technique of
steering a system toward the desired output by
controlling physical variables in a wide range
of industrial processes , as shown in Figure 1.
Fig. 1: PID Temperature
⯈ In process control today, more than 95% of the Control System
control loops are of PID type.
⯈ The PID controller can be said to be the first
solution in every control engineer’s toolbox.
 Definition of Terminologies

The control design process begins by defining the performance requirements. Control system
performance is often measured by applying a step function as the set point command variable, and
then measuring the response of the process variable. Commonly, the response is quantified by
measuring defined waveform characteristics.
Rise Time is the amount of time the system takes to go from 10% to 90% of the steady-state, or final,
value.
Percent Overshoot is the amount that the process variable overshoots the final value, expressed as
a percentage of the final value.
Settling time is the time required for the process variable to settle to within a certain percentage
(commonly 5%) of the final value.
Steady-State Error is the final difference between the process variable and set point. Note that the
exact definition of these quantities will vary in industry and academia.
Basic PID Control Modes
⯈ PID controllers have three control modes:
1) Proportional Control (P): It will have the effect of reducing the rise time and will reduce, but
never eliminate, the steady-state error.
2) Integral Control (I): It will have the effect of eliminating the steady-state error, but it may
make the transient response worse.
3) Derivative Control (D): It will have the effect of increasing the stability of the system,
reducing the overshoot, and improving the transient response
⯈ Each of the three modes reacts differently to the error. The amount of response produced by each
control mode is adjustable by changing the controller’s tuning settings. Effects of each control on
a closed-loop system are summarized in the following table:
Basic Control Algorithms
⯈ Generally, three basic algorithms are used P, PI, or PID.

Fig. 2: General Control System

⯈ Proportional (P) Controller: The proportional control 𝐶 𝑠 mode is the main driving force in a
controller. It changes the control input 𝑢 in proportion to the error 𝑒 . If the error increases,
the control action increases proportionally.

⯈ The transfer function of the P controller is normally express in the following form:
𝑈 𝑠
𝐶 𝑠 = = 𝐾𝑝
𝐸𝑠
⯈ The adjustable parameter to be specified is the controller gain 𝐾𝑝. The larger 𝐾𝑝 the more the
control input will change for a given error.
 Basic Control Algorithms (Cont…)
⯈ Proportional Integral Derivative (PID) Controller:
A proportional-integral-derivative controller (PID controller) is a control loop feedback mechanism (controller)
widely used in industrial control systems. A PID controller calculates an error value as the difference between
a measured process variable and a desired setpoint. The controller attempts to minimize the error by adjusting
the process through use of a manipulated variable.
Basic Control Algorithms (Cont…)
⯈ The transfer function of the PID control algorithm is given by:
1
𝐶 𝑠 = 𝐾𝑝 1 + + 𝑇𝐷𝑠

⯈ Or:
𝐾𝑖
𝐶 𝑠 = 𝐾𝑝 + + 𝐾 𝑠; 𝐾 =𝐾 𝑇 𝑎𝑛𝑑 𝐾 = 𝐾𝑝
𝐷 D 𝑝 𝐷 𝑖
𝑠 𝑇𝑖
⯈ The advantages of PID controller are:
Tuning of PID Controller
⯈ The process of choosing the correct values of 𝐾𝑝, 𝑇𝑖, and 𝑇𝐷 is known as the tuning of the
controller.
⯈ Usually, Two approaches are considered to tune the PID controller:

⯈ If a mathematical model of the plant can be derived, then it is possible to apply various design
techniques for determining parameters of the controller that will meet the transient and steady state
specifications of the closed-loop system. However, if the plant is so complicated that its
mathematical model cannot be easily obtained, then an analytical or computational approach to
the design of a PID controller is not possible. Then we must resort to experimental approaches to
the tuning of PID controllers.
Ziegler–Nichols Tuning Rules
⯈ Ziegler and Nichols suggested rules for tuning PID controllers based on experimental step responses
or based on the value of 𝐾𝑝 that results in marginal stability when only proportional control action
is used.
⯈ Ziegler–Nichols rules are useful when mathematical models of plants are not known.
⯈ However, the resulting system may exhibit a large maximum overshoot in the step response,
which is unacceptable. In such a case we need a series of fine-tunings until an acceptable result is
obtained.
⯈ In fact, the Ziegler–Nichols tuning rules give an educated guess for the controller’s parameter
values and provide a starting point for fine-tuning, rather than giving the final settings.
⯈ There are two methods called Ziegler–Nichols tuning rules: the first method and the second method.
Ziegler–Nichols Tuning Rules
⯈ First Method: In the first method, we obtain experimentally the response of the plant to a unit
step input, as shown in Figure 3.

Fig. 3: Unit step response of a plant

⯈ This method applies if the response to a step input exhibits an S-shaped curve. Such step response
curves may be generated experimentally or from a dynamic simulation of the plant.
⯈ If the plant involves neither integrator(s) nor dominant complex conjugate poles, then such a unit-
step response curve may look S-shaped, as shown in Figure 3.
Ziegler–Nichols Tuning Rules

Fig. 4: S-shaped response curve

Ziegler–Nichols Tuning Rules
Ziegler–Nichols Tuning Rules

Fig. 5: Closed-loop system with a proportional controller Fig. 6: Sustained oscillation

Ziegler–Nichols Tuning Rules
Example
Consider the control system shown below. Design the PID controller.

Solution:
Example
Exercise:

1. find the ultimate gain and period

2.
find the PID parameter by using ZN second method