Hi-Spec Solutions

PID Algorithm

Fully Explained

Advanced Control Techniques PID 4-1

 Hi-Spec Solutions
Control Algorithms
and tuning
• Feedback control
• On/Off control
• Proportional control
• Integral control
• Derivative control
• Trial-and-error tuning
• Manipulated variable overshoot
• Open Loop tuning methods
• Other algorithms
Advanced Control Techniques PID 4-2
 Hi-Spec Solutions

Control Algorithms
• Feedback control
– Advantages : Measures the final product or variable
and so does not need an exact knowledge of the
process to work effectively
– Disadvantages : Deviation from the target must have
occurred before feedback control system will function
(this is a problem if controlling quality hence the
introduction of feed-forward techniques)

Advanced Control Techniques PID 4-3

 Hi-Spec Solutions

Concept of Feedback
Temperature
Feedback
PV Water
Temperature

SP ?
Desired
Temperature
Error =
E Actual- I’m too
Desired
hot!
Control
Algorithm
Move valve
to left
H C
No action

Move valve
to right

Advanced Control Techniques PID 4-4

 Hi-Spec Solutions

Definitions
• Process Variable
– The measured value of the variable to be controlled
e.g. obtained from orifice plate or thermocouple
– Given in engineering units
• Setpoint
– The required value of the process variable may be set
by the operator or by the output of another controller
(cascaded)
– Always abbreviated to SP
– Same units as PV

Advanced Control Techniques PID 4-5

 Hi-Spec Solutions

Definitions continued
• Error
– Measure of how far the process variable is from the setpoint
– Always abbreviated to “E”
– Usually defined as PV-SP
• Manipulated Variable
– The variable that is adjusted to correct any error
– Usually abbreviated to “MV” or even just “M”
– Output to valve or OP
– Units 0-100% or -5% to 105%
– Air to open or air to close
– Direct or Reverse Acting

Advanced Control Techniques PID 4-6

 Hi-Spec Solutions

On/Off Control (1)

• Also called “bang-bang” control
• Simplest form of control
– Used in domestic gas fired boilers
– Easy to understand and visualize
– most common in people’s daily lives
• Action
– Temperature below setpoint, fuel on
– Temperature above setpoint, fuel off
– Only 2 positions 0 or 100% range

Advanced Control Techniques PID 4-7

 Hi-Spec Solutions

On/Off control (2)

• Usually a deadband
– due to mechanical delays
– never reaches SP overshoots SP
• Deadband often deliberately introduced
– reduces frequency of operation and wear
• Temperature will oscillate about the required value
– Unacceptable in most process industry situations as it leads to
an unstable process
– Acceptable if precise control not required
– Can use for trip action e.g. relief valves for pressure relief

Advanced Control Techniques PID 4-8

 Hi-Spec Solutions

On/Off control (3)

Fuel
“no deadband”

Temperature

Fuel
with “deadband”

Temperature Deadtime

Temp overshoot

Time

Advanced Control Techniques PID 4-9

 Hi-Spec Solutions

Proportional control
• Change in controller output proportional to change in
error
– MV = Kc*E + C
– Where MV= manipulated variable
– E = error
– Kc = controller gain
– C= valve position at zero error (0.5 or 50%)
• Proportional band = 100/Kc
– % change in error required to move valve full scale
• Proportional only control results in offset
– Never reaches SP
• Action is instantaneous (proportional kick)
– As soon as error is produced, control action is taken
Advanced Control Techniques PID 4-10
 Hi-Spec Solutions
Local Proportional Controller

Zero
Adjustment

Proportional
Band

Advanced Control Techniques PID 4-11

 Hi-Spec Solutions

Proportional action (open loop)

Error = PV-SP

Setpoint decrease

MV = valve position

Proportional action

Time
Advanced Control Techniques PID 4-12
 Hi-Spec Solutions

Proportional action (closed loop response)

Increasing Gain

PV SP

Advanced Control Techniques PID 4-13

 Hi-Spec Solutions
Proportional offset

Pivot
Fin
Flow in (supply)

SP

Fout, flow out (load)

Advanced Control Techniques PID 4-14

 Hi-Spec Solutions

Integral Control
• Used to Remove Offset
• Rate of change of controller output is proportional
to error
t
Kc
Ti  edt
0
• Kc = gain as used in proportional only control
• Ti = reset/integral time (mins)
• 1/Ti sometimes used (repeats/min)
• As long as error exists, integral action will work to
eliminate the error
Advanced Control Techniques PID 4-15
 Hi-Spec Solutions

Local controller showing integral control

Integral control set in

minutes per repeat
(rather than repeats per
minutes which is
common in DCS
systems

Advanced Control Techniques PID 4-16

 Hi-Spec Solutions

Proportional + Integral action (open loop)

Error = PV-SP

Setpoint decrease

MV = valve position Ti

Equal to proportional
Proportional action Action

Time

Advanced Control Techniques PID 4-17

 Proportional + integral action Hi-Spec Solutions
(closed loop response)

Decreasing integral time

PV SP

Advanced Control Techniques PID 4-18

 Hi-Spec Solutions

Derivative control
• Change in controller output proportional to rate of change of
error
MV = Kc.Td.(dE/dt)
Where Td = derivative time
• Derivative action amplifies measurement noise
• Very effective if deadtime present and often under-rated
– But problems if noisy signal
– Sensitive to tuning errors
– Provides an additional “pulse” to push the control in the right
direction

Advanced Control Techniques PID 4-19

 Hi-Spec Solutions

Proportional + Derivative action (open loop)

Error = PV-SP

MV = valve position Td

Derivative action
Equal to an equivalent
proportional action

Time

Advanced Control Techniques PID 4-20

 Hi-Spec Solutions

Proportional “kickback” in a P+I control (closed loop)

Kickback, PV moves away from SP before reaching it

PV solution is to reduce Kc
SP

Advanced Control Techniques PID 4-21

 Hi-Spec Solutions
Equations for PID, 4 forms
Continuous
M V  K E 
1 dE 
 E . d t  T D
 TI d t 
Velocity
K 
d M V d E E d 2 E 
   T D
d t  d t T I d t 2 
Incremental Form
 E  ( E ) 
K 
E
 M V    T D 
 T S T I T S 2

Digital Form
MVn = MVn-1 + K[(En-En-1)+(TS/TI)En + (TD/TS)(En.-2*En-1+En-2)]
(when TI=0, Integral term is dropped)

Advanced Control Techniques PID 4-22

 Hi-Spec Solutions

Trial and error tuning (1)

• Most important method
– no matter what technique used to determine initial tuning
constants, further adjustment may be necessary
• Advantages
– simple, logical, requires patience and understanding
– deals with all components in process
• Disadvantages
– Can be very time consuming
– Operators satisfied when tuning about right
• Experience in tuning
– leads to a “feel” for what is right

Advanced Control Techniques PID 4-23

 Hi-Spec Solutions

Trial and Error (2)

• Proportional action
– Start with a low value
– Increase gradually
– Reduce if PV oscillates excessively if MV has large
overshoot or if you see proportional “kick-back”
– kick-back is a phenomenon where the PV moves towards
the SP but then turns back away from it and is due to the
proportional action being too high
– Proportional affects both integral and derivative actions !

Advanced Control Techniques PID 4-24

 Hi-Spec Solutions

Trial and Error (3)

• Integral Action
– Start with high value (low integral action)
– Increase integral action if approach to setpoint is slow
– Too much integral can also cause oscillation
– Integral should not be less than deadtime + 1/3 lag
– Reduce gain when decreasing integral time constant
– Use more integral action and less proportional action
to stop kickback

Advanced Control Techniques PID 4-25

 Hi-Spec Solutions

Trial and Error (4)

• Derivative action
– Some people are afraid of it
– Do not be afraid to use it!
– But do not use it all the time either
– use it when you have deadtime and no noise
– Introduce it slowly and carefully
– Re-adjust proportional and integral action as necessary
– (deadtime/4) is a reasonable start
– Do not use too much as it can lead to instability if
over-used, maximum should be TD = TI/4

Advanced Control Techniques PID 4-26

 Hi-Spec Solutions

Tuning Objective
• Flow control
– Constant flow required
– Very fast response to setpoint or load disturbance
– Tune as fast as possible without causing excessive
oscillation or valve wear
• Level control
– Keep feed to next unit as constant as possible
– Tune as slow as possible
– Do not tune so slow as to empty or fill vessel !

Advanced Control Techniques PID 4-27

 Hi-Spec Solutions
Tuning Objective for temperature
to flow cascade
• Flow controller
– Fast response required
– Small lag
– Fast tuning possible
• Temperature controller SP
TC
– Steady temperature required
– Larger process lag and often deadtime SP
FC
– Tune fast but not so as cause oscillation

Advanced Control Techniques PID 4-28

 Hi-Spec Solutions

Split-range controllers
0-50 50-100

Fuel gas SP Vent (e.g. to flare)

PC

• When one valve open, other closed

• 3 Options
– One without deadband
– One with deadband
– 2, Full range valves
Advanced Control Techniques PID 4-29
 Hi-Spec Solutions

Response of Valve with and without deadband

Valve Position Valve Position
100% 100%

Fuel gas Fuel gas

Vent valve Deadband prevents Vent valve

continuous venting

PC output PC output
0 50 100 0 50 100

Advanced Control Techniques PID 4-30

 Hi-Spec Solutions

Tuning Criteria (1)

• Need to determine how well controller performs.
• Use of Integral of error (must use abs or error2 to
ensure +ve and -ve errors don’t cancel out by
coincidence
• Based on minimizing an objective function :
00
– Integral of absolute error (IAE) 0 | E| dt
00
– Integral of square of error (ISE) 0 | E 2| dt
00
– Integral with time of absolute error (ITAE) 0 t | E| dt
– Integral with time of square of error (ITSE) 00
0 t | E 2| dt

Advanced Control Techniques PID 4-31

 Hi-Spec Solutions

Tuning Criteria ( 2)
• IAE and ISE do not always penalize oscillations
sufficiently with respect to time
– leading to tuning too tight
• ITSE tends to weight large errors excessively
– leading to tuning too tight
• ITAE good choice
– gives best tuning constants, developed by Louisiana
State University
• But in computer-based tuning packages It depends
on the computer algorithm used for tuning which
method is most appropriate
Advanced Control Techniques PID 4-32
 Hi-Spec Solutions

Tuning Criteria (3)

• In addition to criteria discussed, most of the tuning
methods do not take account of effect on
manipulated variable
– e.g. fuel valve position
• Excessive control valve movement
– causes wear and accelerates failure
• Controller tuning becomes a compromise between
fast approach to setpoint and minimum MV
overshoot
– Max 15% recommended
Advanced Control Techniques PID 4-33
 Hi-Spec Solutions

Tuning Criteria (4)

• Can add a weighting term to the objective function
• Penalty now defined as :

00 00
0
( Error * time)dt  ( f ( MV overshoot)dt
0

Advanced Control Techniques PID 4-34

 Hi-Spec Solutions

Response to SP change (proportional on error)

MV Overshoot
PV
SP
MV

Proportional
Kick

Advanced Control Techniques PID 4-35

 Hi-Spec Solutions

Trial and error tuning (1)

• Tune Filter first
• Kc (+ or -) 20% - 10% - 5% - stop
• Ti 50% - 20% - 10% - stop
• Td 50% - 20% - 10% - stop
• Td/Ti < 0.25
• Ts < 0.1 Ti
• Ts < 0.2 ( )
• Ti > 5.Tf
– (to allow sufficient time for integral sampling
compared to filter time)
Advanced Control Techniques PID 4-36
 Hi-Spec Solutions

Trial and error tuning (2)

/ measure of difficulty of control
< 0.5 easy
< 1.0 not too bad
> 2.0 difficult
> 2.0 and > 10min then  compensation algorithm
recommended (or multivariable predictive control
methods as appropriate)

Advanced Control Techniques PID 4-37

 Hi-Spec Solutions

Closed Loop tuning Methods

• Do not need to calculate process dynamics
• Simple, cheap, and proven
• Tuning for quarter amplitude decay only
• Methods for calculating tuning constants
– Ziegler-Nichols
– Quarter damping

Advanced Control Techniques PID 4-38

 Hi-Spec Solutions
Ziegler-Nichols
(Closed Loop Methods)
• Original method of tuning a controller
• Either cause PV to oscillate with constant
amplitude and record K and period of oscillation P
(Ti = Td = 0)
• Or adjust K for 1/4 amplitude damping
• In practice no longer used because both cause
process to oscillate.
• These were replaced by open loop methods

Advanced Control Techniques PID 4-39

 Hi-Spec Solutions

Ziegler-Nichols Closed Loop Method

Control Kc Ti Td

P only 0.5 Ku - -
PI only 0.45 Ku 0.833 Pu -
PID 0.8 Ku 0.5 Pu 0.125 Pu
PID tight 0.6 Ku 0.5 Pu 0.125 Pu
PID reduced overshoot 0.33 Ku 0.5 Pu 0.33 Pu
PID no overshoot 0.2 Ku 0.33 Pu 0.5 Pu

Where :
Ku is the ultimate gain that produces steady oscillation
Pu is the ultimate period between successive oscillations (in minutes)
Td is often over-estimated by this method (can try Deadtime/10)

Advanced Control Techniques PID 4-40

 Hi-Spec Solutions

Open Loop methods

• With control loop open, make a step change to
manipulate variable
• Record effect on controlled variable
• Calculate process dynamics from measurements
from process response
• Methods for calculating tuning constants
– Ziegler-Nichols
– Cohen-Coon
– Louisiana State University
– Computer methods
Advanced Control Techniques PID 4-41
 Hi-Spec Solutions

Ziegler-Nichols tuning
P only
Kc = /(Kp *)
PI
Kc = 0.9  /(Kp*  )
Ti = 3.*
PID
Kc = 1.2.  /(Kp*  )
Ti = 2*
Td= 0.5* 
Td is often over-estimated by this method (can try Deadtime/10)

Advanced Control Techniques PID 4-42

 Hi-Spec Solutions
Many other methods of open loop tuning
calculation
• Cohen-Coon
• Louisiana State University
• All OK and provide a good starting point
• Then use trial and error methods for fine tuning if
necessary

Advanced Control Techniques PID 4-43

 Hi-Spec Solutions
Cohen-Coon Tuning Method
P only
Kc = (Kp )(/)(1+())
PI
Kc = (1/Kp)()(0.9+(*))
Ti = **
PID
Kc = (1/Kp)(
Ti = 
Td = 
PD (not used in practice!)
Kc = (1/Kp)(
Td = 

Advanced Control Techniques PID 4-44

 Hi-Spec Solutions

Louisiana State University Tuning Method

Control K=Y/G TI=T1/Y TD=Y.T1

A B A B A B

P 0.49 -1.084 - - - -

PI 0.859 -0.977 0.674 -0.68 - -

PID 1.357 -0.947 0.842 -0.738 0.381 0.995

Where Y=A

Advanced Control Techniques PID 4-45

 Hi-Spec Solutions

Wind-up
• Integral action can lead to a phenomena called
wind-up which is best illustrated by an example
• Occurs when a secondary in a cascade hits an OP
limit, but SP to controller (from primary) is still
increasing because primary is not at SP
• SP of secondary increases but to no effect
– When SP needs to decrease in the future, has a long way to
go before it can really move the secondary
– Can get wind-up high or low
– leads to poor control

Advanced Control Techniques PID 4-46

 Hi-Spec Solutions

Wind-up example
• Fuel pressure falls causing flow controller to open
control valve
• If valve opens fully and flow is still below SP
temperature will start to fall
• TC increases FC setpoint but with no result
• FC setpoint increased till at maximum or high limit
(wound-up) SP
TC
• If fuel pressure suddenly increases, fuel flow will
increase to above that required (valve wide open FC
setpoint high) SP

• High temperature results until TC can reduce FC FC

PV
setpoint back to required value

Advanced Control Techniques PID 4-47

 Hi-Spec Solutions

Windup-protection
• Traditional analogue systems
– batch switches
– external reset feedback
• DCS have built-in techniques
– Control algorithm reduces problem
– Clamps against changes in same direction of wind-up
– Integral action is suspended until control moves away
from wind-up

Advanced Control Techniques PID 4-48

 Hi-Spec Solutions

Control Initialization
• When controller is first put on automatic the
following happens:
SP = PVn (optional)
PVn-1 = PVn
PVn-2 = PVn
En = PVn - SP = 0
En-1 = PVn-1 - SP = 0
En-2 = PVn-2 - SP = 0
delta MV =0
MVn = current output = MVn-1

Advanced Control Techniques PID 4-49

 Hi-Spec Solutions

Tracking
• When controller in MANUAL
SP = PVn (PV tracking)
MVn = current output (OP tracking)
Tracking similar to initialization
only difference is history is not set to zero in tracking

Advanced Control Techniques PID 4-50

 Hi-Spec Solutions

SP initialization/SP tracking
• Configurable option when loop put in AUTO
• SP fixed
– SP remains at previous desired value
– Control moves output till PV = SP
– may bump process if it is a fast loop
• SP changed
– Setpoint changed so SP = PV
– Control algorithm does not move valve
– Operator must reset SP if desired
– No bump
• Be consistent
– do not surprise the operators

Advanced Control Techniques PID 4-51

 Hi-Spec Solutions

Initialization of Cascades (1)

• FC initialization should be bumpless

• FC.SP should equal FC.PV when
cascade is first engaged
• TC should the SP be fixed or SP
TC
changed? and why?
SP
FC
PV

Advanced Control Techniques PID 4-52

 Hi-Spec Solutions

Initialization of Cascades (2)

SP
• FC initialization should be bumpless
• TC to FC cascade, initialization should be
bumpless. TC.SP should equal TC.PV when
cascade is first engaged
TC
• AC, should the SP be fixed or changed? and
why?
FC
SP

AC
AC SP

PV

Advanced Control Techniques PID 4-53

 Hi-Spec Solutions

Initialization Recommendations
• Fix SP for
– Level controllers
– Critical pressure controllers
– Critical temperature controllers
– Analyzer controllers
– Constraint controllers
– Model based inferential controllers
• Change SP for
– Flow controllers
– Non-critical pressure controllers
– Non-critical temperature controllers
• Some systems change SP only within SP clamps
• Be consistent

Advanced Control Techniques PID 4-54

 Hi-Spec Solutions

Other Algorithms
• Modifications can be made to standard PID
• Most common is replace error by PV in proportional
and derivative terms
– Used when tuning for load rather than SP changes
– Reduces proportional “kick” when SP changes
– Allows higher controller gain to be set for improved load
response
– Integral action still allows PV to “ramp” back to the SP
• Equation given by :

MVn = MVn-1 + K[PVn-PVn-1+TS*En/TI+TD/TS[PVn-2*PVn-1+PVn-2]]

Advanced Control Techniques PID 4-55

 Hi-Spec Solutions
P+I response to SP change (proportional on PV)

PV*

SP

PV

PV* = PV response to proportional on error

PV = PV response to proportional on PV with the same PI tuning
Advanced Control Techniques PID 4-56
 Hi-Spec Solutions

Algorithm selection
• 4 possibilities
– SP response proportional on error (use for MVPC)
› Fastest approach to SP
› use for all secondaries
– SP response proportional on PV
› Compromise
– Load response proportional on error
› Do not use, “worst of both worlds”
– Load response proportional on PV
› Best load response
› use for some primaries if setpoint rarely changed

Advanced Control Techniques PID 4-57

 Hi-Spec Solutions

Algorithm selection TDC 3000 PM/AM

Eqn Algorithm
A Prop on error
(duplicates old PID, derivative on error)
B Prop on error
(all secondaries/primaries whose SP change)
C Prop on PV
(primaries whose SP rarely change)
D Integral only
(can use occasionally for flow controller/model
based predictors/other slow controllers)
Advanced Control Techniques PID 4-58
 Interactive form of PID equations Hi-Spec Solutions

Advanced Control Techniques PID 4-59

 Non-Interactive form of PID equations Hi-Spec Solutions

Advanced Control Techniques PID 4-60

 Hi-Spec Solutions

Traditional Methods
• Technical problems
– Do not limit MV overshoot
– Developed for QAD which is not that good
– Developed for load tuning not SP tuning
– Developed for analogue PID not modern day PID
• Practical problems
– Time consuming
– Experience, skill shortage
– Selection of correct criteria/algorithm
• Results in control performance not optimum
• Consider only as a starting point
Advanced Control Techniques PID 4-61
 Hi-Spec Solutions

Computerized Tuning Aids

• Computerized tuning aid
– more reliable
– open loop response used to determine tuning constants
– optimum tuning derived for this model
• Options
– proportional on error or PV
– optimize for SP or load changes
– ability to alter sample interval
– special algorithms if required
– should allow for MV overshoot
– more options may be included

Advanced Control Techniques PID 4-62

 Hi-Spec Solutions

Profit PID
• Honeywell has developed a computer method
called Profit PID (robust PID)
– This provides a complete tuning environment on the
PC for obtaining optimal tuning for your PID
Controllers
– Use for difficult PID loops
– Particularly those that are to be incorporated as the
“ultimate secondaries” of advanced or multivariable
control schemes
• This is covered later in the course as an example of
computer-based methods
Advanced Control Techniques PID 4-63
 Hi-Spec Solutions

Adaptive tuning (1)

• For non-linear and time varying loops optimum
tuning may alter as conditions change
• Can be sometimes overcome by redesigning control
strategy
– Cascades can help to linearize a process
– Feedforward can also help
• Can make tuning constants a function of operating
conditions e.g. gain a function of feed rate (ratio
gain to feed rate then write down new gain to
controller)
Advanced Control Techniques PID 4-64
 Hi-Spec Solutions

Adaptive tuning (2)

• Adaptive tuning
– Monitor control performance in closed loop
– Adapt tuning constants to improve performance
• Self tuning controllers
– Simplified solution to a very difficult adaptive tuning
problem
– successful for some loops
– Can give problems if you leave it turned on once
optimal as may continuously adjust loop tightening it
more and more if the process is steady, especially
increasing the gain
Advanced Control Techniques PID 4-65
 Hi-Spec Solutions

Controller tuning constant units

• Ensure units are correct, especially controller gain
• Ti and Td usually in minutes
• Most controllers work in normalized units, (e.g.
TDC)
– No problem with closed loop methods
– with open loop convert gain to % of range

Kc = KcEU* PVrange
MVrange

Advanced Control Techniques PID 4-66

 Hi-Spec Solutions

Tuning Guidelines
• Tune filter first
• Simple fast loops can be tuned by trial and error
only (e.g. most flow controllers)
• Use established tuning method e.g. open loop
• Monitor performance and use experienced trial and
error
• Document results to refer back to later

Advanced Control Techniques PID 4-67

 Hi-Spec Solutions

Guide for flow controllers

• Integral action dominates tuning
• Set Ti small (order of a few seconds)
• Set Kc small
• Usually set Td = 0
• Use Ti action (lower Ti) to help with noise rather
than adding a filter

Advanced Control Techniques PID 4-68

 Hi-Spec Solutions

Guide for pressure controllers

• Liquid pressures behave like flows
• Vapor pressures, use PI may have some dynamics
• derivative action rarely needed unless deadtime in
system

Advanced Control Techniques PID 4-69

 Hi-Spec Solutions

Guide for temperature controllers

• Significant dynamics so may need full PID
• Can try with PI first then add D slowly
• not normally noisy
• often hardest of basic controller types to tune
because derivative is needed (full PID)

Advanced Control Techniques PID 4-70

 Hi-Spec Solutions

Guide for Analyzer

or Composition Controllers
• Often deadtime is significant
• Can sometimes use PID if deadtime not too
great e.g. RVP analyzers sometimes work with
PID algorithm
• Be careful if discontinuous
• If deadtime > 10min, consider use of a
deadtime elimination algorithm (model based
predictor which we will cover later in course)
which will out-perform PID
Advanced Control Techniques PID 4-71
 Hi-Spec Solutions

Guide for level controllers

• May be tight or loose (averaging)
• Gain dominates tuning
• Use only a little Integral (minutes rather than
seconds)
• Almost never use derivative
• May need to filter, often noisy

Advanced Control Techniques PID 4-72

 Hi-Spec Solutions

Initial tuning constants for plant start-up

Given as guide only, will not always work
Type K (%) Ti (min) Td (min)
Flow 0.1 0.05 0

Pressure (liq) 0.5 0.05 0

Pressure (vap) 1.0 5.0 0

Temperature 1.0 5.0 0.5

Level (tight) 1.0 8.0 0

Level (averaging) 0.25 16.0 0

Note: Fisher and some others use 1/Ti

(0.05 for Ti of flows and pressure is quite aggressive)

Advanced Control Techniques PID 4-73

 Hi-Spec Solutions

How do you tell if tuning is good?

• Inspection
– Look at trends of SP, PV, OP
• Loop ScoutTM
– Internet based tool for tuning
– Very easy to use
– Non-intrusive
› Collect data automatically
› Send via web
› Receive Results back
› Focus on loops that need attention
– www.loopscout.com
Advanced Control Techniques PID 4-74
 Hi-Spec Solutions

Setup

Advanced Control Techniques PID 4-75

 Hi-Spec Solutions

Can Import
Tag List as
text file

Advanced Control Techniques PID 4-76

 Hi-Spec Solutions

Main
Functions

Advanced Control Techniques PID 4-77

 Hi-Spec Solutions

Or enter tag
manually

Advanced Control Techniques PID 4-78

 Hi-Spec Solutions

Conclusion
• There is more to PID than meets the eye
• There are several options for configuration under
different circumstances
• Trial and error is still useful but is often slow and
laborious
• Trial and error gave way to open loop steps and
Ziegler-Nichols involving calculating dynamics
which has now given way to computer-based
techniques for “difficult” loops

Advanced Control Techniques PID 4-79