PID TUNING METHOD

Tuning
• Tuning a control loop is arranging the
control parameters to their optimum
values in order to obtain desired
control response. At this point,
stability is the main necessity, but
beyond that, different systems leads
to different behaviours and
requirements and these might not be
compatible with each other.
Tuning
• In principle, P-I-D tuning seems completely
easy, consisting of only 3 parameters,
however, in practice; it is a difficult
problem because the complex criteria at
the P-I-D limit should be satisfied. P-I-D
tuning is mostly a heuristic concept but
existence of many objectives to be met
such as short transient, high stability
makes this process harder.
Tuning
• For a system to operate properly, the output
should be stable, and the process should not
oscillate in any condition of set point or
disturbance. However, for some cases bounded
oscillation condition as a marginal stability can
be accepted.
• In order to achieve optimum solutions Kp, Ki and
Kd gains are arranged according to the system
characteristics.
TUNING METHOD
• Manual Tuning Method

• Ziegler-Nichols Tuning Method

• Cohen-Coon Tuning Method

Manual Tuning Method
• Manual tuning is achieved by arranging the
parameters according to the system response.
Until the desired system response is obtained 𝐾𝑖 ,
𝐾p and 𝐾𝑑 are changed by observing system
behaviour.

• Although manual tuning method seems simple it

requires a lot of time and experience
Ziegler-Nichols Method
• Ziegler-Nichols proposed rules for determining values of the
proportional gain 𝐾𝑝, integral time 𝑇𝑖, and derivative time 𝑇𝑑,
base on 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
using experiments on the plant.

• There are two methods called Ziegler–Nichols tuning rules:

• First method (open loop Method)

• Second method (closed Loop Method)
Ziegler-Nichols FIRST Method
• In the first method, we
obtained experimentally
the response of a plant
to a unit step input,

• If the plant involves

neither integrator(s) nor
dominant complex-
conjugate poles, then
such a unit-step
response curve may
look S-shaped.
Zeigler-Nichols First Method

• Where :
L=Delay time
T=Time constant

• This method applies if the response to a step input

exhibits an S-shaped curve.

• Such step-response curves may be generated

experimentally or from a dynamic simulation of the
plant.
Zeigler-Nichol’s Tuning rule based on step response of the plant
Zeigler-Nichols First Method
 Zeigler-Nichols Second Method
• In the second method, we first set 𝑇𝑖 = ∞ and 𝑇𝑑 =
0.
• Using the proportional control action only (as
shown in figure), increase Kp from 0 to a critical
value Kcr at which the output first exhibits sustained
oscillations.
Zeigler-Nichols Second Method
• If the output does not exhibit sustained
oscillations for whatever value Kp may take, then
this method does not apply.
Zeigler-Nichols Second Method
Zeigler-Nichols Second Method
EXAMPLE