PID LOOP SIMULATOR

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

1.5
120
19

190

Output

Controller
C + 1/Is + Ds

Set Point
+
-

Controller

Se tP oint / Proce ss Va lue

Gain (C)
Integral (I)
Derivative (D)
(All times in seconds)

2.94
34.42
0

294
3442
0

PID Loop Simulation

Proces s Value

2
1.8
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2

Time (sec)

http://www.engineers-excel.com

233

224

215

206

197

188

179

170

161

152

143

134

125

116

107

98

89

80

71

62

53

44

35

26

17

-1

-10

Output

Process Value

Process Value

Set Point

Output

4
3.5

Output

3
2.5
2
1.5
1
0.5

296

287

278

269

260

251

242

233

224

215

206

197

188

179

170

161

lation

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

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
38

OP
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
1

0
0
0
0
0
0
0
0
0
0
2.969053
2.998106
3.027159
3.056212
3.085264
3.114317
3.14337
3.172423
3.201476
3.230529
3.259582
3.288635
3.317687
3.34674
3.375793
3.404846
3.433899
3.462952
3.492005
3.521058
3.440377
3.35846
3.275306
3.190914
3.105285
3.018418
2.930313
2.84097
2.750388
2.658567
2.565507
2.471208
2.37567
2.278892
2.180874
2.081616
1.981117
1.879379
1.776399

PV
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0.036959
0.073973
0.111041
0.148164
0.18534
0.222569
0.259851
0.297185
0.334571
0.372008
0.409496
0.447035
0.484624
0.522263
0.559951
0.597688
0.635473
0.673306
0.711187

Error
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
0.963041
0.926027
0.888959
0.851836
0.81466
0.777431
0.740149
0.702815
0.665429
0.627992
0.590504
0.552965
0.515376
0.477737
0.440049
0.402312
0.364527
0.326694
0.288813

AccumErr
0
0
0
0
0
0
0
0
0
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
20.96304
21.88907
22.77803
23.62986
24.44452
25.22195
25.9621
26.66492
27.33035
27.95834
28.54885
29.10181
29.61719
30.09492
30.53497
30.93729
31.30181
31.62851
31.91732

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
87
88

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
1

1.672178
1.570772
1.472232
1.376609
1.283956
1.194323
1.107763
1.024327
0.944067
0.867034
0.79328
0.722858
0.655818
0.592213
0.532095
0.475515
0.422526
0.373179
0.327526
0.28562
0.247511
0.213104
0.182297
0.154988
0.131073
0.110447
0.093
0.078622
0.0672
0.05862
0.052764
0.049514
0.048749
0.050344
0.054175
0.060114
0.068031
0.077795
0.089271
0.102323
0.116813
0.132606
0.149571
0.16758
0.186507
0.206234
0.226643
0.247622
0.269061
0.290857

0.749116
0.785725
0.821011
0.854969
0.887594
0.918883
0.948831
0.977434
1.004687
1.030586
1.055128
1.078307
1.10012
1.120563
1.139632
1.157322
1.17363
1.188551
1.202083
1.214219
1.224958
1.234346
1.242429
1.249254
1.25487
1.259323
1.262662
1.264934
1.266189
1.266474
1.265839
1.264332
1.262003
1.258902
1.255079
1.250582
1.245464
1.239773
1.233562
1.22688
1.21978
1.21231
1.204519
1.196452
1.188155
1.179669
1.171037
1.162298
1.153489
1.144646

0.250884
0.214275
0.178989
0.145031
0.112406
0.081117
0.051169
0.022566
-0.004687
-0.030586
-0.055128
-0.078307
-0.10012
-0.120563
-0.139632
-0.157322
-0.17363
-0.188551
-0.202083
-0.214219
-0.224958
-0.234346
-0.242429
-0.249254
-0.25487
-0.259323
-0.262662
-0.264934
-0.266189
-0.266474
-0.265839
-0.264332
-0.262003
-0.258902
-0.255079
-0.250582
-0.245464
-0.239773
-0.233562
-0.22688
-0.21978
-0.21231
-0.204519
-0.196452
-0.188155
-0.179669
-0.171037
-0.162298
-0.153489
-0.144646

32.1682
32.38248
32.56147
32.7065
32.8189
32.90002
32.95119
32.97376
32.96907
32.93848
32.88335
32.80505
32.70493
32.58436
32.44473
32.28741
32.11378
31.92523
31.72315
31.50893
31.28397
31.04962
30.80719
30.55794
30.30307
30.04375
29.78108
29.51615
29.24996
28.98349
28.71765
28.45331
28.19131
27.93241
27.67733
27.42675
27.18128
26.94151
26.70795
26.48107
26.26129
26.04898
25.84446
25.64801
25.45985
25.28018
25.10915
24.94685
24.79336
24.64871

89
90
91
92
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94
95
96
97
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
136
137
138

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
1

0.312908
0.335117
0.357395
0.379651
0.401805
0.423776
0.445492
0.466883
0.487886
0.508441
0.528494
0.547995
0.566901
0.585171
0.602771
0.619669
0.635839
0.651259
0.66591
0.679778
0.692851
0.705123
0.71659
0.727251
0.737109
0.746168
0.754438
0.761928
0.768652
0.774625
0.779865
0.78439
0.788223
0.791384
0.793898
0.795789
0.797085
0.797811
0.797994
0.797665
0.796849
0.795578
0.79388
0.791783
0.789318
0.786513
0.783396
0.779997
0.776344
0.772463

1.135804
1.126994
1.118249
1.109595
1.101061
1.092672
1.084451
1.07642
1.068599
1.061004
1.053654
1.04656
1.039737
1.033195
1.026942
1.020987
1.015335
1.009992
1.00496
1.00024
0.995835
0.991742
0.987961
0.984488
0.98132
0.978451
0.975877
0.97359
0.971584
0.96985
0.96838
0.967165
0.966196
0.965462
0.964953
0.964659
0.964569
0.964671
0.964955
0.965409
0.966022
0.966782
0.967679
0.968702
0.969838
0.971078
0.972411
0.973826
0.975312
0.976861

-0.135804
-0.126994
-0.118249
-0.109595
-0.101061
-0.092672
-0.084451
-0.07642
-0.068599
-0.061004
-0.053654
-0.04656
-0.039737
-0.033195
-0.026942
-0.020987
-0.015335
-0.009992
-0.00496
-0.00024
0.004165
0.008258
0.012039
0.015512
0.01868
0.021549
0.024123
0.02641
0.028416
0.03015
0.03162
0.032835
0.033804
0.034538
0.035047
0.035341
0.035431
0.035329
0.035045
0.034591
0.033978
0.033218
0.032321
0.031298
0.030162
0.028922
0.027589
0.026174
0.024688
0.023139

24.51291
24.38592
24.26767
24.15807
24.05701
23.96434
23.87989
23.80347
23.73487
23.67386
23.62021
23.57365
23.53391
23.50072
23.47378
23.45279
23.43745
23.42746
23.4225
23.42226
23.42643
23.43469
23.44673
23.46224
23.48092
23.50247
23.52659
23.553
23.58142
23.61157
23.64319
23.67602
23.70982
23.74436
23.77941
23.81475
23.85018
23.88551
23.92056
23.95515
23.98913
24.02234
24.05466
24.08596
24.11612
24.14505
24.17263
24.19881
24.2235
24.24664

139
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161
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165
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167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188

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
1

0.768381
0.764125
0.75972
0.755191
0.750562
0.745855
0.741092
0.736295
0.731484
0.726677
0.721893
0.717149
0.71246
0.707841
0.703307
0.698869
0.694541
0.690331
0.686251
0.682308
0.678511
0.674865
0.671377
0.668052
0.664894
0.661906
0.659089
0.656447
0.653979
0.651685
0.649566
0.64762
0.645845
0.644239
0.642799
0.641521
0.640403
0.639439
0.638626
0.637958
0.63743
0.637037
0.636773
0.636633
0.63661
0.636698
0.636891
0.637183
0.637568
0.638039

0.978462
0.980106
0.981785
0.983488
0.985209
0.986939
0.988671
0.990398
0.992112
0.993808
0.99548
0.997122
0.99873
1.000298
1.001822
1.003299
1.004724
1.006096
1.007411
1.008666
1.00986
1.010992
1.012059
1.013061
1.013997
1.014866
1.015669
1.016406
1.017077
1.017682
1.018223
1.0187
1.019115
1.019469
1.019763
1.02
1.020181
1.020308
1.020383
1.020409
1.020387
1.02032
1.02021
1.020059
1.019871
1.019647
1.019389
1.019101
1.018785
1.018442

0.021538
0.019894
0.018215
0.016512
0.014791
0.013061
0.011329
0.009602
0.007888
0.006192
0.00452
0.002878
0.00127
-0.000298
-0.001822
-0.003299
-0.004724
-0.006096
-0.007411
-0.008666
-0.00986
-0.010992
-0.012059
-0.013061
-0.013997
-0.014866
-0.015669
-0.016406
-0.017077
-0.017682
-0.018223
-0.0187
-0.019115
-0.019469
-0.019763
-0.02
-0.020181
-0.020308
-0.020383
-0.020409
-0.020387
-0.02032
-0.02021
-0.020059
-0.019871
-0.019647
-0.019389
-0.019101
-0.018785
-0.018442

24.26817
24.28807
24.30628
24.32279
24.33758
24.35065
24.36197
24.37158
24.37946
24.38566
24.39018
24.39305
24.39432
24.39403
24.3922
24.38891
24.38418
24.37809
24.37067
24.36201
24.35215
24.34116
24.3291
24.31604
24.30204
24.28717
24.2715
24.2551
24.23802
24.22034
24.20212
24.18342
24.1643
24.14483
24.12507
24.10507
24.08489
24.06458
24.0442
24.02379
24.0034
23.98308
23.96287
23.94281
23.92294
23.90329
23.88391
23.8648
23.84602
23.82758

189
190
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215
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218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238

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
1

0.638589
0.639214
0.639905
0.640658
0.641465
0.642322
0.643222
0.64416
0.64513
0.646127
0.647145
0.64818
0.649227
0.650281
0.651339
0.652395
0.653445
0.654488
0.655518
0.656532
0.657528
0.658503
0.659454
0.66038
0.661277
0.662144
0.662979
0.663781
0.664549
0.665282
0.665978
0.666637
0.667259
0.667843
0.668389
0.668897
0.669367
0.669799
0.670195
0.670553
0.670875
0.671162
0.671415
0.671633
0.671819
0.671973
0.672097
0.672192
0.672258
0.672297

1.018077
1.017689
1.017283
1.016861
1.016424
1.015974
1.015515
1.015047
1.014573
1.014095
1.013614
1.013132
1.012651
1.012172
1.011697
1.011227
1.010763
1.010307
1.009859
1.009421
1.008993
1.008577
1.008173
1.007781
1.007403
1.007038
1.006688
1.006352
1.006032
1.005726
1.005435
1.00516
1.0049
1.004656
1.004426
1.004212
1.004012
1.003827
1.003657
1.0035
1.003357
1.003228
1.003111
1.003007
1.002915
1.002835
1.002765
1.002706
1.002658
1.002618

-0.018077
-0.017689
-0.017283
-0.016861
-0.016424
-0.015974
-0.015515
-0.015047
-0.014573
-0.014095
-0.013614
-0.013132
-0.012651
-0.012172
-0.011697
-0.011227
-0.010763
-0.010307
-0.009859
-0.009421
-0.008993
-0.008577
-0.008173
-0.007781
-0.007403
-0.007038
-0.006688
-0.006352
-0.006032
-0.005726
-0.005435
-0.00516
-0.0049
-0.004656
-0.004426
-0.004212
-0.004012
-0.003827
-0.003657
-0.0035
-0.003357
-0.003228
-0.003111
-0.003007
-0.002915
-0.002835
-0.002765
-0.002706
-0.002658
-0.002618

23.8095
23.79181
23.77453
23.75767
23.74124
23.72527
23.70975
23.69471
23.68013
23.66604
23.65242
23.63929
23.62664
23.61447
23.60277
23.59154
23.58078
23.57047
23.56061
23.55119
23.5422
23.53362
23.52545
23.51767
23.51027
23.50323
23.49654
23.49019
23.48416
23.47843
23.47299
23.46783
23.46293
23.45828
23.45385
23.44964
23.44563
23.4418
23.43814
23.43464
23.43129
23.42806
23.42495
23.42194
23.41902
23.41619
23.41342
23.41072
23.40806
23.40544

239
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266
267
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1
1
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0.672311
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1.002588
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289
290
291
292
293
294
295
296
297
298
299
300

1
1
1
1
1
1
1
1
1
1
1
1

0.665023
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1.003495
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