University of Basrah for Gas and Oil

College of Oil and Gas Engineering

Department of
Chemical and Petroleum Refining Engineering
Process Dynamic and Control II
Second Semester (Fourth Year)

Dr. Seaar Al-Dabooni

Lecture (13)

2020-7-3
 Tuning PID Controllers
PID Control of Plants

• 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.
• Ziegler and Nichols suggested rules for tuning PID controllers (meaning to set values proportional
gain 𝐾𝑝 , integral time 𝑇𝑖 and derivative time 𝑇𝑑 ) based on experimental step responses.
• Ziegler–Nichols rules, which are briefly presented in the following, are useful when mathematical models of plants are
not known.

• Ziegler and Nichols proposed rules for determining values of the proportional gain integral time and derivative time
based on the transient response characteristics of a given plant.

• Such determination of the parameters of PID controllers or tuning of PID controllers can be made by engineers on-
site by experiments on the plant.
 Tuning PID Controllers
Ziegler–Nichols Methods
There are two methods called Ziegler–Nichols tuning rules:
First Method (S-shaped response curve): we obtain experimentally the response of the plant to a unit-step input.
• This method applies if the response to a step input exhibits
an S-shaped curve (plant involves neither integrator(s) nor
dominant complex-conjugate poles).
• The S-shaped curve may be characterized by two constants,
delay time L and time constant T. The delay time and time
constant are determined by drawing a tangent line at the
inflection point of the S-shaped curve and determining the
intersections of the tangent line with the time axis and line
c(t)=K.

Unit-step response of a plant. S-shaped response curve.

 Ziegler–Nichols Methods
Tuning PID Controllers
First Method (S-shaped response curve):
• The transfer function C(s)/U(s) may then be approximated by a first-order system with a transport lag as follows:

• Ziegler and Nichols suggested to set the values of and according to the formula shown in Table below.
 Ziegler–Nichols Methods
Tuning PID Controllers
Second Method (Critical Oscillator):

• In the second method, we first set 𝑇𝑖 = ∞ and 𝑇𝑑 = 0. Using the

proportional control action only (see right Figure), increase Kp from 0
to a critical value Kcr at which the output first exhibits sustained
oscillations. (If the output does not exhibit sustained oscillations for
whatever value Kp may take, then this method does not apply.)

• Thus, the critical gain Kcr and the corresponding period are experimentally determined
 Ziegler–Nichols Methods
Tuning PID Controllers
Second Method (Critical Oscillator):

• Ziegler and Nichols suggested to set the values of and according to the formula shown in Table below.

Thus, the PID controller has a pole at

the origin and double zeros at
 Ziegler–Nichols Methods
Tuning PID Controllers
Example
Consider the control system shown below in which
a PID controller is used to control the system. By
using Ziegler-Nichols method, find the parameters
of PID controller.
Answer
 Ziegler–Nichols Methods
Tuning PID Controllers
Answer

OR
6s  30  0
2

6s 2  30
s 2  5
s   j 5  w   5;
(apply a positive value)
 Ziegler–Nichols Methods
Tuning PID Controllers
Answer
Hence, the period of sustained oscillation is

Referring to Table of the second method, we obtain

Matlab
The transfer function of the PID controller is thus

num= [6.3223 18 12.811];

den = [1 6 11.3223 18 12.81];
step(num,den)
grid on
title('Unit-Step Response')
 Ziegler–Nichols Methods
Tuning PID Controllers
Example Consider a plant with transfer function
clear
clc
s = tf('s');
G = (5)/(s+1)^3
The step response is shown below step(G)
grid on
title('Unit-Step Response')

By using Ziegler-Nichols method, find the parameters of PID controller.

 Ziegler–Nichols Methods
Tuning PID Controllers
clear
Answer clc
s = tf('s');
G1 = (5)/(s+1)^3
G2=(1.2*0.4*s^2+1.2*1.6*s+1.2)/(1.6*s)
G1G2=series(G1,G2);
Sys=feedback(G1G2,[1])
step(Sys)
grid on
title('Unit-Step Response')

4
𝐾𝑝 = 1.2 ∗ 0.8∗5=1.2
𝑇𝑖 = 2 ∗ 0.8 = 1.6

𝑇𝑑 = 0.5 ∗ 0.8 = 0.4

 Tuning PID Controllers
Ziegler–Nichols Methods

Please see these wonderful demos

https://www.wisc-online.com/learn/technical/process-control/ele4508/reaction-curve-tuning-example

https://www.wisc-online.com/learn/manufacturing-engineering/man-eng-inustrial-automation/ele4608/ziegler-
nichols-reaction-curve-process-identi

https://www.wisc-online.com/learn/career-clusters/stem/ele5308/pid-control
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