PID Controller Dr.

Wisam Esmat

Proportional-Integral-Derivative controller
(PID controller)
A proportional-integral-derivative controller (PID controller) is a control loop feedback
mechanism (controller) widely used in industrial control systems.

This type of controller is widely used in industry, does not require accurate model of the
plant or process being controlled and can be understood by most engineers without being
a control expert. The PID controller algorithm involves three separate constant
parameters, and is accordingly sometimes called three-term control:

The proportional (P);

The integral (I);
The derivative (D);

The output of a PID controller is a summation (Σ) of the proportional (P), integral (I), and
derivative (D). A PID controller calculates an error value as the difference between a

measured process variable and a desired set point. The controller attempts to minimize
the error by adjusting the process through use of a manipulated variable as shown in
figure 1, which it represents the basic block diagram of a PID controller system.

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PID Controller Dr.Wisam Esmat

Figure (1). shown the PID Controller

Where
Kp : Proportional Gain ; and use to decrease the rise time
Ki : Integral Gain ; and use to eliminate the steady-state error.
Kd : Derivative gain ; and use to reduce the overshoot and settling time
e: error

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The Equation which represents the general equation of PID controller:

𝒕 𝒅
𝒖(𝒕) = 𝑲𝒑 . 𝒆(𝒕) + 𝑲𝑰 ∫𝟎 𝒆(𝒕)𝒅𝒕 + 𝑲𝒅 . 𝒆(𝒕)--------(1)
𝒅𝒕

Take Laplace
𝑲𝑰
𝒖(𝒔) = 𝑲𝒑 . 𝑬(𝒔) + . 𝑬(𝒔) + 𝑲𝒅 𝒔. 𝑬(𝒔)--------(2)
𝒔
𝑲𝑰
𝒖(𝒔) = 𝑬(𝒔)[𝑲 𝒑 + +𝑲𝒅 𝒔]--------(3)
𝒔

𝒖(𝒔) 𝑲𝑰
G(PID): = (𝑲 𝒑 + +𝑲𝒅 𝒔) --------(4)
𝑬(𝒔) 𝒔

If the stander forms:

𝑲𝒑
𝑲𝑰 = and 𝑲𝒅 = 𝑲 𝒑 𝑻𝒅
𝑻𝑰

Sub stander forms in equations (4):

Then, the final form of (PID) controller equation is:
𝟏
𝐆(𝐏𝐈𝐃) = 𝑲𝒑 (𝟏 + +𝑻𝒅 𝒔)
𝑻𝑰 𝑺
𝐋𝐞𝐭 𝑺𝒖𝒑𝒑𝒐𝒔𝒆 𝒕𝒉𝒆 (𝑲𝒑 ) 𝒃𝒆𝒄𝒐𝒎𝒆𝒔 (𝑲 𝒄𝒓 )

Then the PID controller transfer function:

𝟏 --------(5)
𝐆(𝐏𝐈𝐃) = 𝑲𝒄𝒓 (𝟏 + +𝑻𝒅 𝒔)
𝑻𝑰 𝑺
Where:
TI: is the integral time constant
Td: is the derivative time constant.
Kcr: is the critical proportional gain value.

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PID Controller Dr.Wisam Esmat

Ziegler Nichols Rules for Tuning PID Controllers

Although there are only three parameters in a PID controller, it’s difficult to tune the PID
controller since these three parameters could influence or even conflict with each other.
There are several feasible PID tuning methods are available for the solution the problem
and get the values of (KP, KI and Kd).

But the Ziegler–Nichols method was reported as the best tuning method when both
performance and robustness are considered.

Ziegler and Nichols devised two empirical methods for obtaining (PID) controller
parameters, even with computer aids; the following two methods are still employed
today, and are considered among the most common. These methods are:

1. Ziegler-Nichols Open Loop Method

2. Ziegler-Nichols Closed - Loop Tuning Method

These two methods were used to describe a two simple mathematical procedures which
using to tuning PID parameters i.e. (KP, KI and Kd).

These procedures are now accepted as standard in control systems practice. Both
techniques make a priori assumptions on the system model. Ziegler-Nichols formulae for
specifying the controllers are based on plant steps or processes steps responses.

The second method (Ziegler-Nichols Closed - Loop Tuning Method) was chosen for
study.

Ziegler and Nichols proposed rules for determining values of the proportional gain, (Kp)
integral time, (Ti) and derivative time (Td) based on the response characteristics
according to the formula shown in Table 1. And through these values we can be
calculated the values of Proportional Gain (Kp), Integral Gain (Ki) and Derivative
gain(Kd ).

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PID Controller Dr.Wisam Esmat

𝟐𝝅
Pcr =
𝝎

Where:
Pcr: period of oscillation

The Tuning Procedure:

1. Remove integral and derivative action by set the integral time (𝑇𝑖) to ∞ and set the
derivative controller (𝑇𝑑) to zero.

2. Record the gain value (𝐾𝑐𝑟) and period of oscillation (𝑃𝑐𝑟).

3. Plug these values into the Ziegler-Nichols closed loop equations and determine the
necessary settings for the controller.

Example (1): Determine the parameters of PI & PID controller by using the Z-N method
for the model which given as shown below:

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PID Controller Dr.Wisam Esmat

Solution: Use equation (5)

1-Sub in eq(5), (TI=∞ & Td=0) then the eq(5) became (𝐾𝑐𝑟)

2-Take transfer function for system (TS):

𝒚(𝒔) 𝟏𝑮 .𝑮𝟐
=
𝒓(𝒔) 𝟏+𝑮 𝟏 .𝑮𝟐

𝟏𝟎𝐾cr
(𝑺+𝟏𝟎)(𝑺𝟐 +𝟑𝑺+𝟔)+𝟏𝟎𝐾cr
--------(1)

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PID Controller Dr.Wisam Esmat

3-Take characteristic equation from equation (1). [ 0‫( ومساواته مع‬1( ‫]يعني إهمال بسط المعادلة‬

Then we are getting:

(𝑺 + 𝟏𝟎)(𝑺𝟐 + 𝟑𝑺 + 𝟔) + 𝟏𝟎𝐾cr = 𝟎

𝑺𝟑 + 𝟑𝑺𝟐 + 𝟔𝑺 + 𝟏𝟎𝑺𝟐 + 𝟑𝟎𝑺 + 𝟔𝟎 + 𝟏𝟎𝐾cr = 𝟎

𝑺𝟑 + 𝟏𝟑𝑺𝟐 + 𝟑𝟔𝑺 + 𝟔𝟎 + 𝟏𝟎 𝑲𝐜𝐫 = 𝟎 -------- (2)

Sub 𝑺 = 𝒋𝝎 in eq (2)
NOTE:

(−𝒋𝝎)𝟑 − 𝟏𝟑(𝝎)𝟐 + 𝟑𝟔(𝒋𝝎) + 𝟔𝟎 + 𝟏𝟎 𝑲𝐜𝐫 = 𝟎 𝒋 = √−𝟏

−𝟏𝟑(𝝎)𝟐 + 𝟔𝟎 + 𝟏𝟎 𝑲𝐜𝐫 = 𝟎 ---- (3) (Real numbers) 𝒋2 = −𝟏

(−𝒋𝝎)𝟑 + 𝟑𝟔(𝒋𝝎) = 𝟎 ---- (4) (Imaginary numbers) 𝒋3 = −𝒋

For eq(9)

(−𝒋𝝎)𝟑 + 𝟑𝟔(𝒋𝝎) = 𝟎

(𝝎)𝟑 − 𝟑𝟔(𝝎) = 𝟎

(𝝎)𝟑 = 𝟑𝟔(𝝎)

𝝎𝟐 = 𝟑𝟔

𝝎=𝟔

Sub the value of (ω ) in eq (8)

−𝟏𝟑(𝟔)𝟐 + 𝟔𝟎 + 𝟏𝟎 𝑲𝐜𝐫 = 𝟎

−𝟒𝟔𝟖 + 𝟔𝟎 + 𝟏𝟎 𝑲𝐜𝐫 = 𝟎
408
𝑲𝐜𝐫 = = 40.8
10
𝟐𝝅
Pcr =
𝝎

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PID Controller Dr.Wisam Esmat
𝟐𝝅
Pcr = =1.04
𝟔

For table (1), the parameters of (PI) Controller

Kp= 0.45 𝐾cr

Kp= 0.45 ∗ 40.8

Kp=18.36
𝑷𝒄𝒓 𝟏.𝟎𝟒
TI= = =0.866
𝟏.𝟐 𝟏.𝟐

𝑲𝒑 𝟏𝟖.𝟑𝟔
𝑲𝑰 = = = 21.2
𝑻𝑰 𝟎.𝟖𝟔𝟔

For table (1), the parameters of (PID) Controller

Kp= 0.6 𝐾cr

Kp= 0.6 ∗ 40.8

Kp= 24.48

TI=0.5 Pcr

TI=0.5 *1.04

TI=0.52
𝑲𝒑 𝟐𝟒.𝟒𝟖
𝑲𝑰 = = = 47.07
𝑻𝑰 𝟎.𝟓𝟐

𝑲𝒅 = 𝑲 𝒑 𝑻𝒅

𝑻𝒅 = 𝟎. 𝟏𝟐𝟓 𝐏𝐜𝐫 = 𝟎. 𝟏𝟐𝟓 ∗ 𝟏. 𝟎𝟒

𝑻𝒅 = 𝟎. 𝟏𝟑

𝑲𝒅 =24.48* 𝟎. 𝟏𝟑

𝑲𝒅 = 𝟑. 𝟏𝟖

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PID Controller Dr.Wisam Esmat

Example (2): Determine the parameters of PI & PID controller by using the Z-N method
for the model which given as shown below:

Solution: Use equation (5)

1-Sub in eq(5), (TI=∞ & Td=0) then the eq(5) became (𝐾𝑐𝑟)

2-Take transfer function for system (TS):

𝒄(𝒔) 𝟏 𝑮 .𝑮𝟐
=
𝒓(𝒔) 𝟏+𝑮 𝟏 .𝑮𝟐

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PID Controller Dr.Wisam Esmat
(𝒔+𝟗)
𝒄(𝒔) 𝒌𝒄𝒓 .
𝒔(𝒔+𝟑)(𝒔+𝟓)
= (𝒔+𝟗)
𝒓(𝒔) 𝟏+𝒌𝒄𝒓 .
𝒔(𝒔+𝟑)(𝒔+𝟓)

𝒌𝒄𝒓 (𝒔+𝟗)
𝒄(𝒔) 𝒔(𝒔+𝟑)(𝒔+𝟓)
= 𝒌 (𝒔+𝟗)
𝒓(𝒔) 𝟏+ 𝒄𝒓
𝒔(𝒔+𝟑)(𝒔+𝟓)

𝒄(𝒔) 𝒌𝒄𝒓 (𝒔+𝟗)

=
𝒓(𝒔) 𝒌 𝒄𝒓 (𝒔+𝟗)+𝒔(𝒔+𝟑)(𝒔+𝟓)

𝒄(𝒔) 𝒔𝒌𝒄𝒓 +𝟗𝒌𝒄𝒓

=
𝒓(𝒔) 𝒔𝒌𝒄𝒓 +𝟗𝒌𝒄𝒓 +𝒔𝟑 +𝟖𝒔𝟐 +𝟏𝟓𝒔)

𝒄(𝒔) 𝒄𝒓 𝒄𝒓 𝒔𝒌 +𝟗𝒌
= 𝟑 𝟐 -------- (2)
𝒓(𝒔) 𝒔 +𝟖𝒔 +𝒔(𝟏𝟓+𝒌 )+𝟗𝒌 𝒄𝒓 𝒄𝒓

3-Take characteristic equation from equation (2). [ 0‫( ومساواته مع‬2( ‫]يعني إهمال بسط المعادلة‬

Then we are getting:

NOTE:
𝒔𝟑 + 𝟖𝒔𝟐 + 𝒔(𝟏𝟓 + 𝒌𝒄𝒓 ) + 𝟗𝒌𝒄𝒓 = 𝟎 -------- (3) 𝒋 = √−𝟏
Sub 𝑺 = 𝒋𝝎 in eq (3) 𝒋2 = −𝟏
(−𝒋𝝎)𝟑 − 𝟖(𝝎)𝟐 + (𝟏𝟓 + 𝒌𝒄𝒓 )(𝒋𝝎) + 𝟗 𝑲𝐜𝐫 = 𝟎 𝒋3 = −𝒋
−𝟖(𝝎)𝟐 + 𝟗 𝑲𝐜𝐫 = 𝟎 ---- (4) (Real numbers)

(−𝒋𝝎)𝟑 + (𝟏𝟓 + 𝒌𝒄𝒓 )(𝒋𝝎) = 𝟎 ---- (5) (Imaginary numbers)

For eq(5)

(−𝒋𝝎)𝟑 + (𝟏𝟓 + 𝒌𝒄𝒓 )(𝒋𝝎) = 𝟎

(𝝎)𝟑 − (𝟏𝟓 + 𝒌𝒄𝒓 )(𝝎) = 𝟎

(𝝎)𝟑 = (𝟏𝟓 + 𝒌𝒄𝒓 )(𝝎)

𝝎𝟐 = (𝟏𝟓 + 𝒌𝒄𝒓 )

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PID Controller Dr.Wisam Esmat

𝝎 = √(𝟏𝟓 + 𝒌𝒄𝒓 ) ---- (6)

Sub the value of (ω ) in eq (4)

−𝟖(𝝎)𝟐 + 𝟗 𝑲𝐜𝐫 = 𝟎

−𝟖(𝟏𝟓 + 𝒌𝒄𝒓 ) + 𝟗 𝑲𝐜𝐫 = 𝟎

−𝟏𝟐𝟎 − 𝟖𝒌𝒄𝒓 + 𝟗 𝑲𝐜𝐫 = 𝟎

−𝟏𝟐𝟎 + 𝑲𝐜𝐫 = 𝟎

𝑲𝐜𝐫 = 𝟏𝟐𝟎

𝑺𝒖𝒃 𝒊𝒏 𝒆𝒒 (𝟔)

𝝎 = √(𝟏𝟓 + 𝟏𝟐𝟎)

𝝎 = √𝟏𝟑𝟓

𝝎 = 𝟏𝟏. 𝟔
𝟐𝝅
Pcr =
𝝎

𝟐𝝅
Pcr = =0.54
𝟏𝟏.𝟔

For table (1), the parameters of (PI) Controller

Kp= 0.45 𝐾cr

Kp= 0.45 ∗ 𝟏𝟐𝟎

Kp=54
𝑷𝒄𝒓 𝟎.𝟓𝟒
TI= = =0.45
𝟏.𝟐 𝟏.𝟐

𝑲𝒑 𝟓𝟒
𝑲𝑰 = = = 129
𝑻𝑰 𝟎.𝟒𝟓

For table (1), the parameters of (PID) Controller

Kp= 0.6 𝐾cr

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PID Controller Dr.Wisam Esmat

Kp= 0.6 ∗ 120

Kp= 72

TI=0.5 Pcr

TI=0.5 *0.54

TI=0.27
𝑲𝒑 𝟕𝟐
𝑲𝑰 = = = 266
𝑻𝑰 0.27

𝑲𝒅 = 𝑲 𝒑 𝑻𝒅

𝑻𝒅 = 𝟎. 𝟏𝟐𝟓 𝐏𝐜𝐫 = 𝟎. 𝟏𝟐𝟓 ∗ 𝟎. 𝟓𝟒

𝑻𝒅 = 𝟎. 𝟎𝟔𝟕

𝑲𝒅 =72* 𝟎. 𝟎𝟔𝟕

𝑲𝒅 = 𝟒. 𝟖𝟔

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