Table 6.1.

Table of tuning relations

A. Tuning relations based on open-loop testing and response fitted to a first-order with dead-time
function:
K e−td s
G PRC =
τs + 1

Controller Cohen – Coon Ziegler – Nichols

 
τ 1 τ
P Kc K = + (6.6) Kc K = (6.9)
td 3 td
 
τ 1 τ
PI K c K = 0.9 + (6.7a) K c K = 0.9 (6.10a)
td 12 td
30 + 3(td /τ )
τ I = td (6.7b) τ I = 3.3td (6.10b)
9 + 20(td /τ )
 
4τ 1 τ
PID Kc K = + (6.8a) K c K = 1.2 (6.11a)
3 td 4 td
32 + 6(td /τ )
τ I = td (6.8b) τ I = 2td (6.11b)
13 + 8(td /τ )
4
τ D = td (6.8c) τ D = 0.5td (6.11c)
11 + 2(td /τ )

Minimum ITAE criterion

For load change:

   b2  b3
a 1 τ b1 τ td td
Kc = , τI = , τ D = a3 τ . (6.12)
K td a2 τ τ

Controller a1 b1 a2 b2 a3 b3

PI 0.859 0.977 0.674 0.680 — —

PID 1.357 0.947 0.842 0.738 0.381 0.995

For set-point change:

   b3
a1 τ b1 τ td
Kc = , τI = , τ D = a3 τ . (6.13)
K td a2 − b2 (td /τ ) τ

Controller a1 b1 a2 b2 a3 b3

PI 0.586 0.916 1.03 0.165 — —

PID 0.965 0.855 0.796 0.147 0.308 0.929
B. Tuning relations based on closed-loop testing and the Ziegler–Nichols ultimate-gain
(cycle) method with given ultimate proportional gain K cu and ultimate period Tu .

Ziegler–Nichols ultimate-gain method

Controller

P K c = 0.5K cu (6.14)
PI K c = 0.455K cu (6.15a)
τ I = 0.833Tu (6.15b)

Just a bit of
PID Quarter decay overshoot No overshoot

K c = 0.6K cu (6.16a) K c = 0.33K cu (6.17a) K c = 0.2K cu (6.18a)

τ I = 0.5Tu (6.16b) τ I = 0.5Tu (6.17b) τ I = 0.5Tu (6.18b)
τ D = 0.125 Tu (6.16c) τ D = 0.333Tu (6.17c) τ D = 0.333Tu (6.18c)
Table 6.2. Summary of PID controller settings based on internal model control or direct
synthesis

Process model Controller Kc τI τD

Kp τp
PI τp —
τps + 1 K p τc
Kp τ1 + τ2 τ1 τ2
PID τ1 + τ2
(τ1 s + 1)(τ2 s + 1) K p τc τ1 + τ2
τ1
PID with τ1 > τ2 τ1 τ2
K p τc
τ1
PI (underdamped) τ1 —
4K p ζ 2 τ2
Kp 2ζ τ τ
PID 2ζ τ
τ 2 s 2 + 2ζ τ s + 1 K p τc 2ζ
Kp 1
PD — τp
s(τ p s + 1) K p τc
K p e−td s τp
PI τp —
τps + 1 K p (τc + td )
1 2τ p /td + 1 τp
PID τ p + td /2
K p 2τc /td + 1 2τ p /td + 1
Kp 1
P — —
s K p τc