Date:._____________ Experiment # 12 Roll No.

:_____________

PE-426 Digital Control System

To analyze the open or closed loop discrete time control system in term of stability and design specification.
Attainment
CLO Statement↓ Score→ Exemplary (5) Proficient (4) Developing (3) Beginning (2) Novice (1) Target
1. Arranged the equipment
accordingly
2. Performed the procedure
accordingly
Follow instructions 3. Explains the results properly
Follow any 4 Follow any 3 Follow any 2 Follow any 3
1 to complete your 4. Has taken sufficient readings to points. points. points. 1 point.
tasks. complete the given tasks
5. Did not followed wrong mean to
present his/her work
-2 points for late submission
1. Has completely followed safety
rules of lab
2. Has does his work and also helped
Practice the rules
others Follow any 4 Follow any 3 Follow any 2 Follow any 3
2 and regulations of 3. Has practiced the tasks as per points. points. points. 1 point.
lab requirement
4. Has participated in discussion
5. Worked as a member of tem
Date:._____________ Experiment # 12 Roll No.:_____________

Experiment # 12: Trace the response of PID Controller Design using Ziegler-Nichols Method.
Apparatus:
 MATLAB software
 Personal computer
PID Controller:
In industrial applications, PID controllers are often tuned empirically. Typically, the controller parameters are
selected based on a simple process model using a suitable tuning rule. This allows us to address (1) load disturbance
rejection specifications (which are often a major concern in process control) and (2) the presence of a time delay in
the process. We first write the PID controller transfer function in the form;

where K is the process gain, τ is the process (dominant) time constant, and L is the (apparent) dead time of the
process. The response for the approximate model of due to a step input of amplitude A is given by the expression;

Ziegler-Nichols: First Method

1. Obtain the step response of the process experimentally.
2. Draw a tangent to the step response at the inflection point as shown below.
3. Compute the process gain as the ratio of the steady-state change in the process output y to the amplitude of
the input step A
Date:._____________ Experiment # 12 Roll No.:_____________

Figure 1
Compute the parameters ( K , L, τ ) from the above graph and use the following table to calculate the values of
the PID Controller gains;
Table1

Ziegler-Nichols: Second Method

In 2nd method, the value of the proportional controller gain is increased until the system response becomes
oscillatory. Note the critical value of proportional controller gain K c for which the response becomes oscillator.
Find the time period of oscillations from the response and call this as T c. After finding the K c and T c, use the
following table to find the PID controller gains;
Table 2
Date:._____________ Experiment # 12 Roll No.:_____________

Lab Assessments
Assessment 1:
Consider the control system shown below where the process has the following transfer function:

Figure 2
Using Ziegler Nichols First Method, find the gains of the PID Controller. Build the complete close loop system in
Simulink and verify that the close loop response of the system is stable and satisfactory even in the presence of unit
step load disturbance.

Assessment 2:
Consider Figure 10.2, assuming that the model of the plant is represented by the following transfer function;
1
G p ( s )=
s ( s+ 2 )( s+5 )
Using Ziegler Nichols Second Method, find the gains of the PID Controller. Build the complete close loop system in
Simulink and verify that the close loop response of the system is stable and satisfactory even in the presence of unit
step load disturbance.