Lab Experiment # 06

Demonstration of Ziegler-Nichols method for tuning of PID controller in MATLAB

Objective:
The objective of the experiment is to tune the PID controller using Ziegler–Nichols method.
In this lab we find the suitable value of constant of Proportional, derivative integral controller.
Apparatus:
 Computer having Matlab software
Theory:
The Ziegler–Nichols tuning method is a heuristic method of tuning a PID controller. It was
developed by John G. Ziegler and Nathaniel B. Nichols. It is performed by setting the I (integral)
and D(derivative) gains to zero. The "P" (proportional) gain, Kp is then increased (from zero)
until it reaches the ultimate gain Kpo, at which the output of the control loop oscillates with a
constant amplitude. Kpo and the oscillation period To are used to set the P, I, and D gains
depending on the type of controller used:
Z–N tuning creates “quarter wave decay". This is an acceptable result for some purposes, but not
optimal for all applications.
 "The Ziegler-Nichols tuning rule is meant to give PID loops best disturbance rejection.
Z–N yields an aggressive gain and overshoot – some applications wish to instead minimize or
eliminate overshoot, and for these Z–N is inappropriate.
For the tune of PID controller first of all find Kpo by applying Routh’s Hurwitz method on the
characteristic equation then put this value of Kpo in the auxiliary equation to find the “ώo”.
Using “ώo” find the time of oscillation by applying following formula: To = 2π/ώo
Then tune the PID controller using following Table 7.1:
Table 7.1: PID controller tuning

Controller Kp Ti Ki Td Kd

P 0.5Kpo - - - -

PI 0.4Kpo 0.83To Kp/Ti - -

PID 1.6Kpo 0.5To Kp/Ti 0.125To KpTd

Procedure:
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Lab Tasks
Q1:
Consider system and obtain the unit step response and also analyze the response by
implementing the PID controller by Ziegler-Nichols method?
G(s) = 64/ [ s3 + 14s2 + 56s + 64 ]
 Q2:
Consider system and obtain the unit step response and also analyze the response by
implementing the PID controller by Ziegler-Nichols method?
G(s) = 1/ (s + 1)3
Comments:
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Conclusion:
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