3.

3 Optimum Controller Setting

3.3.1 Tuning Rules by Ziegler-Nichols
The Ziegler-Nichols rules work well only on processes where the dead time is less
than half the length of the time constant.
Settling criteria- Performance Tests = set point& disturbance in load variable
Mode
P
I
D
P
100 RR Td
PI
111.1 RR Td
3.33 Td
PID
83.3 RR Td
2 Td
0.5 Td
Table 1 Tuning Rules by Ziegler-Nichols
3.3.2 Tuning Rules by Cohen-Coon
The Cohen-Coon tuning rules work well on processes where the dead time
is less than two times the length of the time constant
Settling criteria- Performance Test = disturbance in load variable
Mode

100

1+
3

PI

100

1+
11

I
RR Td

11
[
]
11 Td
1+
5
1+

RR Td

3.33

1.35 (1+ ) RR Td
5

5
[
]
3 Td
1+
5
1+

100
PID

2.5

0.37

1+
5

Table 2 Tuning Rules by Cohen-Coon

3.3.3 Tuning Rules by Takashi
Settling criteria- minimum control area = disturbance in load variable
Mode
P
I
D
P
110 RR Td
PI
110 RR Td
3.33 Td
PID
77 RR Td
2.2 Td
0.45 Td
Table 3 Tuning Rules by Takashi

Td

3.3.4 Tuning Rules by Chien, Hrones & Reswick (CHR)

The Chien-Hrones-Reswick auto tuning method focuses on set point response and
disturbance response. This method provides formulas for 0% and 20% overshoot.
Performance Test Set Point: No Overshoot and minimum response time
Mode
P
PI
PID

P
333 RR Td
286 RR Td
167 RR Td

I
1.2 Td
Td

D
0.5 Td

Performance Test Set Point: 20% Overshoot and minimum response time
Mode
P
I
D
P
143 RR Td
PI
167 RR Td
Td
PID
105 RR Td
1.35 Td
0.47 Td
Performance Test Disturbance in Load Variable: No Overshoot and minimum
response time
Mode
P
I
D
P
333 RR Td
PI
167 RR Td
4 Td
PID
105 RR Td
2.4 Td
0.4 Td
Performance Test Disturbance in Load Variable: 20% Overshoot and minimum
response time
Mode
P
I
D
P
333 RR Td
PI
167 RR Td
4 Td
PID
105 RR Td
2.4 Td
0.4 Td
Table 4 Tuning Rules by Chien, Hrones & Reswick (CHR)