PID LOOP SIMULATOR

Step Input
Process
MANIPULATRED Process Value
Process Value
VALUE Process Gain 0.9
Lag (seconds) 9
Mode Delay (seconds) 4
Open
Loop
Closed
Loop Controller
2
Controller Gain 0.37 -
Integral Time (sec) 3.5 SP - PV + Set Point Step Input
Derivative Time (sec) 0.7 Σ

1.8 3
PID Loop Simulation
1.6
2.5
1.4
Set Point / process value

1.2 2

manipulated value
1
1.5
0.8

0.6 1

0.4
0.5
0.2

0 0
-50
-5 0 45 50 95 100 145
150 200195 250 245 300 295 350
Set Point Process Value Manipulated Value
Time Set Point Manipulated Value Process Value Error AccumErr
-10 0 0 0 0 0
-9 0 0 0 0 0
-8 0 0 0 0 0
-7 0 0 0 0 0
-6 0 0 0 0 0
-5 0 0 0 0 0
-4 0 0 0 0 0
-3 0 0 0 0 0
-2 0 0 0 0 0
-1 0 0 0 0 0
0 1 1.35571428571429 0 1 1
1 1 0.941428571428571 0 1 2
2 1 1.22714285714286 0 1 3
3 1 1.51285714285714 0 1 4
4 1 1.79857142857143 0 1 5
5 1 1.91033258205327 0.12831105644 0.8716889436 5.8716889436
6 1 2.14670164109997 0.20391892265 0.7960810773 6.6677700209
7 1 2.29869516786669 0.29861713253 0.7013828675 7.3691528884
8 1 2.41383592124746 0.4103981325 0.5896018675 7.9587547559
9 1 2.48827327305928 0.53746548468 0.4625345153 8.4212892712
10 1 2.54088163997755 0.66174793862 0.3382520614 8.7595413326
11 1 2.54342122296848 0.79533182335 0.2046681766 8.9642095092
12 1 2.51384729928574 0.92925330431 0.0707466957 9.0349562049
13 1 2.45056547731444 1.05998896309 -0.0599889631 8.9749672418
14 1 2.35678809975436 1.18402146518 -0.1840214652 8.7909457767
15 1 2.23381346560124 1.29998972323 -0.2999897232 8.4909560534
16 1 2.08826756015089 1.40400303789 -0.4040030379 8.0869530155
17 1 1.92325871946788 1.49427922871 -0.4942792287 7.5926737868
18 1 1.74383093371865 1.56907262996 -0.56907263 7.0236011569
19 1 1.55489146014081 1.62712518225 -0.6271251822 6.3964759746
20 1 1.36170238102142 1.66743400159 -0.6674340016 5.729041973
21 1 1.16899777352775 1.68972878179 -0.6897287818 5.0393131912
22 1 0.981664378769036 1.69406182949 -0.6940618295 4.3452513618
23 1 0.804160079633993 1.68095733726 -0.6809573373 3.6642940245
24 1 0.640568387481958 1.65134881867 -0.6513488187 3.0129452058
25 1 0.494450525900869 1.60656964614 -0.6065696461 2.4063755597
26 1 0.368849317693681 1.54826102862 -0.5482610286 1.8581145311
27 1 0.266161115109921 1.47835408816 -0.4783540882 1.3797604429
28 1 0.188136780633148 1.39899878328 -0.3989987833 0.9807616596
29 1 0.135848643716213 1.31250546379 -0.3125054638 0.6682561958
30 1 0.109693644968192 1.22127857213 -0.2212785721 0.4469776237
31 1 0.109399974670102 1.12775768474 -0.1277576847 0.319219939
32 1 0.134063721705445 1.03435263238 -0.0343526324 0.2848673066
33 1 0.182190539254723 0.94338553604 0.056614464 0.3414817706
34 1 0.251754688586004 0.85703581113 0.1429641889 0.4844459594
35 1 0.340267629597065 0.7772912525 0.2227087475 0.7071547069
36 1 0.444857018245407 0.70590489182 0.2940951082 1.0012498151
37 1 0.56235121779204 0.64435986044 0.3556401396 1.3568899547
38 1 0.689369097507828 0.59384189072 0.4061581093 1.7630480639
39 1 0.822411538678834 0.55522029733 0.4447797027 2.2078277666
40 1 0.957952798114441 0.5290374503 0.4709625497 2.6787903163
41 1 1.09252918652992 0.51550683176 0.4844931682 3.1632834846
42 1 1.22282318996429 0.51451929557 0.4854807044 3.648764189
43 1 1.34574091500852 0.52565716767 0.4743428323 4.1231070213
44 1 1.45848126287695 0.54821552414 0.4517844759 4.5748914972
45 1 1.55859535907392 0.58122987873 0.4187701213 4.9936616184
46 1 1.64403512788498 0.62350935168 0.3764906483 5.3701522668
47 1 1.71319016206584 0.67367431215 0.3263256878 5.6964779546
48 1 1.76491239858462 0.73019739185 0.2698026081 5.9662805628
49 1 1.79852840749501 0.79144673268 0.2085532673 6.1748338301
50 1 1.8138394283346 0.85573031106 0.1442696889 6.319103519
51 1 1.81110958273046 0.92134019843 0.0786598016 6.3977633206
52 1 1.79104297577878 0.9865956568 0.0134043432 6.4111676638
53 1 1.75475064681826 1.04988403774 -0.0498840377 6.361283626
54 1 1.70370855128562 1.10969854352 -0.1096985435 6.2515850825
55 1 1.63970793600606 1.16467202068 -0.1646720207 6.0869130618
56 1 1.56479961222788 1.21360608424 -0.2136060842 5.8733069776
57 1 1.48123372921758 1.25549501196 -0.255495012 5.6178119656
58 1 1.39139670709114 1.28954399792 -0.2895439979 5.3282679677
59 1 1.29774699963389 1.31518150978 -0.3151815098 5.0130864579
60 1 1.20275132817894 1.3320656498 -0.3320656498 4.6810208082
61 1 1.10882295796727 1.34008457266 -0.3400845727 4.3409362355
62 1 1.01826348217737 1.3393511593 -0.3393511593 4.0015850762
63 1 0.933209439764918 1.33019228183 -0.3301922818 3.6713927944
64 1 0.855584926126304 1.31313311768 -0.3131331177 3.3582596767
65 1 0.787061165477995 1.28887707815 -0.2888770782 3.0693825985
66 1 0.729023806308143 1.25828200588 -0.2582820059 2.8111005926
67 1 0.682548482069619 1.22233336561 -0.2223333656 2.588767227
68 1 0.648384954328812 1.18211520182 -0.1821152018 2.4066520252
69 1 0.626949930657561 1.13877966541 -0.1387796654 2.2678723598
70 1 0.618328430263301 1.09351591868 -0.0935159187 2.1743564411
71 1 0.622283361954277 1.04751921497 -0.047519215 2.1268372262
72 1 0.638272786340361 1.00196091689 -0.0019609169 2.1248763093
73 1 0.665474161419521 0.95796016663 0.0420398334 2.1669161426
74 1 0.702814721495305 0.91655785577 0.0834421442 2.2503582869
75 1 0.749007016596834 0.87869346163 0.1213065384 2.3716648252
76 1 0.802588545355651 0.84518522602 0.154814774 2.5264795992
77 1 0.861964349972835 0.81671405228 0.1832859477 2.7097655469
78 1 0.925451408032744 0.79381139028 0.2061886097 2.9159541566
79 1 0.991323652256836 0.7768512708 0.2231487292 3.1391028858
80 1 1.05785647486819 0.76604654105 0.233953459 3.3730563448
81 1 1.12336962638652 0.76144924721 0.2385507528 3.6116070976
82 1 1.18626749709876 0.7629550081 0.2370449919 3.8486520895
83 1 1.24507587030778 0.7703111303 0.2296888697 4.0783409592
84 1 1.29847435644771 0.78312813084 0.2168718692 4.2952128284
 85 1 1.34532385260751 0.80089426023 0.1991057398 4.4943185681
86 1 1.38468851900461 0.82299255831 0.1770074417 4.6713260098
87 1 1.41585191843064 0.84871992901 0.151280071 4.8226060808
88 1 1.43832712253996 0.87730768767 0.1226923123 4.9452983931
89 1 1.45186074601906 0.90794301725 0.0920569827 5.0373553759
90 1 1.45643102227115 0.93979076717 0.0602092328 5.0975646087
91 1 1.45224017863549 0.97201503963 0.0279849604 5.1255495691
92 1 1.43970150203 1.00380003352 -0.0038000335 5.1217495356
93 1 1.41942160435435 1.03436965278 -0.0343696528 5.0873798828
94 1 1.39217849857873 1.06300543458 -0.0630054346 5.0243744482
95 1 1.35889617923408 1.08906241003 -0.08906241 4.9353120382
96 1 1.32061646361538 1.11198257536 -0.1119825754 4.8233294628
97 1 1.27846889156166 1.13130572223 -0.1313057222 4.6920237406
98 1 1.23363950189436 1.14667745067 -0.1466774507 4.5453462899
99 1 1.18733930272554 1.15785426438 -0.1578542644 4.3874920255
100 1 1.14077323165725 1.16470572444 -0.1647057244 4.2227863011
101 1 1.09511036162475 1.16721371133 -0.1672137113 4.0555725898
102 1 1.05145605046683 1.16546891589 -0.1654689159 3.8901036739
103 1 1.01082665928467 1.159664744 -0.159664744 3.7304389299
104 1 0.974127378637015 1.15008887828 -0.1500888783 3.5803500516
105 1 0.942133605214084 1.13711278928 -0.1371127893 3.4432372623
106 1 0.915476207602445 1.12117952991 -0.1211795299 3.3220577324
107 1 0.894630910958551 1.10279017752 -0.1027901775 3.2192675549
108 1 0.879911919726317 1.0824893089 -0.0824893089 3.136778246
109 1 0.871469787787689 1.06084990422 -0.0608499042 3.0759283418
110 1 0.869293439324482 1.03845807576 -0.0384580758 3.037470266
111 1 0.873216143709359 1.01589800814 -0.0158980081 3.0215722579
112 1 0.882925156206214 0.99373747757 0.0062625224 3.0278347803
113 1 0.897974655128254 0.97251429028 0.0274857097 3.05532049
114 1 0.917801537029138 0.95272394554 0.0472760545 3.1025965445
115 1 0.941743575783957 0.93480878731 0.0651912127 3.1677877572
116 1 0.96905940996905 0.91914886221 0.0808511378 3.2486388949
117 1 0.998949796302016 0.90605465127 0.0939453487 3.3425842437
118 1 1.03057955519732 0.89576179054 0.1042382095 3.4468224531
119 1 1.06309963749348 0.88842784167 0.1115721583 3.5583946115
120 1 1.09566875852152 0.88413112091 0.1158688791 3.6742634906
121 1 1.12747407598759 0.88287154285 0.1171284571 3.7913919477
122 1 1.15775043041533 0.88457338698 0.115426613 3.9068185607
123 1 1.18579771966103 0.88908985037 0.1109101496 4.0177287103
124 1 1.21099604059291 0.89620921005 0.10379079 4.1215195003
125 1 1.23281829957041 0.90566238491 0.0943376151 4.2158571154
126 1 1.25084006691732 0.91713165948 0.0828683405 4.2987254559
127 1 1.26474652714624 0.93026031119 0.0697396888 4.3684651447
128 1 1.27433645424696 0.94466286982 0.0553371302 4.4238022749
129 1 1.27952321793287 0.95993573091 0.0400642691 4.463866544
130 1 1.28033290047383 0.9756678468 0.0243321532 4.4881986972
131 1 1.27689967289498 0.99145122586 0.0085487741 4.4967474713
132 1 1.26945864232906 1.00689098557 -0.0068909856 4.4898564858
133 1 1.25833643782132 1.02161472456 -0.0216147246 4.4682417612
134 1 1.24393984878356 1.03528100435 -0.0352810043 4.4329607569
135 1 1.22674286771291 1.04758676091 -0.0475867609 4.3853739959
136 1 1.20727251613364 1.0582734992 -0.0582734992 4.3271004967
137 1 1.18609384966147 1.06713215932 -0.0671321593 4.2599683374
138 1 1.16379454457368 1.07400657993 -0.0740065799 4.1859617575
139 1 1.14096946450284 1.07879552214 -0.0787955221 4.1071662354
140 1 1.11820559231158 1.08145325427 -0.0814532543 4.0257129811
141 1 1.09606768953425 1.08198873355 -0.0819887335 3.9437242475
142 1 1.07508501487392 1.08046345473 -0.0804634547 3.8632607928
143 1 1.05573939517984 1.07698806613 -0.0769880661 3.7862727267
144 1 1.0384548983017 1.07171788085 -0.0717178809 3.7145548458
145 1 1.02358930852956 1.06484743395 -0.0648474339 3.6497074119
146 1 1.0114275533591 1.05660425465 -0.0566042546 3.5931031572
147 1 1.0021771764808 1.04724203655 -0.0472420366 3.5458611207
148 1 0.995965897585589 1.03703339699 -0.037033397 3.5088277237
149 1 0.992841246177468 1.02626242038 -0.0262624204 3.4825653033
150 1 0.992772205383299 1.01521717901 -0.015217179 3.4673481243
151 1 0.995652753949414 1.00418241814 -0.0041824181 3.4631657062
152 1 1.00130715128387 0.9934325819 0.0065674181 3.4697331243
153 1 1.00949677246405 0.98322534169 0.0167746583 3.4865077826
154 1 1.01992826833642 0.9737957704 0.0262042296 3.5127120122
155 1 1.03226280076363 0.96535128493 0.0346487151 3.5473607273
156 1 1.0461260851115 0.95806745573 0.0419325443 3.5892932715
157 1 1.06111896141074 0.95208475725 0.0479152428 3.6372085143
158 1 1.07682821228449 0.94750630696 0.052493693 3.6897022073
159 1 1.09283734952705 0.94439661455 0.0556033855 3.7453055928
160 1 1.10873710180631 0.94278133658 0.0572186634 3.8025242562
161 1 1.12413535283871 0.94264800756 0.0573519924 3.8598762486
162 1 1.13866630190912 0.94394769451 0.0560523055 3.9159285541
163 1 1.15199864601882 0.9465975015 0.0534024985 3.9693310526
164 1 1.16384261438775 0.9504838316 0.0495161684 4.018847221
165 1 1.17395572058714 0.9554662985 0.0445337015 4.0633809225
166 1 1.18214713426564 0.96138216731 0.0386178327 4.1019987552
167 1 1.18828061226694 0.9680511954 0.0319488046 4.1339475598
168 1 1.19227596693704 0.97528073852 0.0247192615 4.1586668213
169 1 1.19410908663257 0.98287098576 0.0171290142 4.1757958355
170 1 1.19381055896871 0.99062018846 0.0093798115 4.1851756471
171 1 1.19146298036109 0.9983297529 0.0016702471 4.1868458942
172 1 1.18719706518718 1.00580907495 -0.0058090749 4.1810368192
173 1 1.18118669379122 1.01288000518 -0.0128800052 4.168156814
174 1 1.17364306007545 1.01938084646 -0.0193808465 4.1487759676
175 1 1.16480809617646 1.0251698008 -0.0251698008 4.1236061668
176 1 1.15494736347113 1.03012779907 -0.0301277991 4.0934783677
177 1 1.14434260577407 1.03416066496 -0.034160665 4.0593177028
178 1 1.13328416209571 1.03720058263 -0.0372005826 4.0221171201
179 1 1.12206343286815 1.03920685617 -0.0392068562 3.982910264
180 1 1.11096558537763 1.04016596686 -0.0401659669 3.9427442971
181 1 1.10026267163546 1.04009095157 -0.0400909516 3.9026533455
182 1 1.09020731554008 1.03902014172 -0.0390201417 3.8636332038
183 1 1.08102710647422 1.03701531683 -0.0370153168 3.826617887
184 1 1.07291981405212 1.0341593391 -0.0341593391 3.7924585479
185 1 1.06604951423695 1.03055334644 -0.0305533464 3.7619052014
186 1 1.06054369116989 1.02631358928 -0.0263135893 3.7355916122
187 1 1.05649135248465 1.02156800257 -0.0215680026 3.7140236096
188 1 1.05394216930873 1.01645260765 -0.0164526077 3.6975710019
189 1 1.05290662623885 1.01110783959 -0.0111078396 3.6864631624
190 1 1.05335714194377 1.00567489411 -0.0056748941 3.6807882682
191 1 1.05523009826237 1.00029218438 -0.0002921844 3.6804960839
192 1 1.05842869523014 0.99509199205 0.0049080079 3.6854040918
193 1 1.06282653180922 0.99019738904 0.009802611 3.6952067028
194 1 1.06827179755795 0.98571949725 0.0142805027 3.7094872055
195 1 1.07459194930736 0.98175514251 0.0182448575 3.727732063
196 1 1.08159873927366 0.97838494725 0.0216150528 3.7493471158
197 1 1.08909345699312 0.975671894 0.024328106 3.7736752218
198 1 1.09687224699303 0.97366037884 0.0263396212 3.8000148429
199 1 1.10473136709503 0.97237576106 0.0276242389 3.8276390819
200 1 1.11247225848931 0.9718244029 0.0281755971 3.855814679
201 1 1.11990630794994 0.97199418087 0.0280058191 3.8838204981
202 1 1.12685919444615 0.97285543955 0.0271445605 3.9109650585
203 1 1.1331747265544 0.97436234826 0.0256376517 3.9366027103
204 1 1.13871809305724 0.97645461282 0.0235453872 3.9601480975
205 1 1.14337846646566 0.97905948709 0.0209405129 3.9810886104
206 1 1.14707091744211 0.98209402375 0.0179059763 3.9989945866
207 1 1.149737616744 0.98546749973 0.0145325003 4.0135270869
208 1 1.15134831987615 0.98908394977 0.0109160502 4.0244431371
209 1 1.15190014767394 0.99284474124 0.0071552588 4.0315983959
210 1 1.15141669310693 0.99665112456 0.0033488754 4.0349472713
211 1 1.14994650030491 1.00040669661 -0.0004066966 4.0345405747
212 1 1.14756097582075 1.00401971887 -0.0040197189 4.0305208558
213 1 1.14435180416781 1.00740523761 -0.0074052376 4.0231156182
214 1 1.14042794947587 1.01048696042 -0.0104869604 4.0126286578
215 1 1.13591233253049 1.01319885079 -0.0131988508 3.999429807
216 1 1.13093827739836 1.01548641107 -0.0154864111 3.9839433959
217 1 1.12564582425723 1.01730763291 -0.0173076329 3.966635763
218 1 1.12017800497488 1.018633603 -0.018633603 3.94800216
219 1 1.11467717550483 1.01944876146 -0.0194487615 3.9285533986
220 1 1.10928149443478 1.01975081846 -0.0197508185 3.9088025801
221 1 1.10412163023402 1.01955034342 -0.0195503434 3.8892522367
222 1 1.09931777113966 1.01887004828 -0.0188700483 3.8703821884
223 1 1.09497700147768 1.01774379379 -0.0177437938 3.8526383946
224 1 1.09119109683934 1.0162153531 -0.0162153531 3.8364230415
225 1 1.08803477825373 1.01433697212 -0.0143369721 3.8220860694
226 1 1.08556445265119 1.01216776961 -0.0121677696 3.8099182998
227 1 1.08381745383885 1.00977202253 -0.0097720225 3.8001462773
228 1 1.08281178524326 1.00721738337 -0.0072173834 3.7929288939
229 1 1.08254635313482 1.00457307633 -0.0045730763 3.7883558176
230 1 1.08300166723104 1.00190811786 -0.0019081179 3.7864476997
231 1 1.08414097475118 0.99928960523 0.0007103948 3.7871580945
232 1 1.08591178439556 0.99678111315 0.0032188869 3.7903769813
233 1 1.08824772854729 0.99444123469 0.0055587653 3.7959357466
234 1 1.09107070539361 0.99232229773 0.0076777023 3.8036134489
235 1 1.09429323774896 0.99046928266 0.0095307173 3.8131441662
236 1 1.09782098219356 0.98891896124 0.0110810388 3.824225205
237 1 1.10155532073926 0.98769927027 0.0123007297 3.8365259347
238 1 1.10539596756865 0.98682892738 0.0131710726 3.8496970073
239 1 1.10924352539701 0.98631728989 0.0136827101 3.8633797175
240 1 1.11300192956863 0.98616445189 0.0138355481 3.8772152656
241 1 1.11658072297754 0.98636156844 0.0136384316 3.8908536971
242 1 1.11989711112211 0.98689139113 0.0131086089 3.903962306
243 1 1.12287775386628 0.98772899383 0.0122710062 3.9162333122
244 1 1.12546025856847 0.98884266429 0.0111573357 3.9273906479
245 1 1.12759434792243 0.99019493312 0.0098050669 3.9371957148
246 1 1.12924268489541 0.99174370996 0.00825629 3.9454520048
247 1 1.13038134630976 0.99344349465 0.0065565053 3.9520085101
248 1 1.13099994566264 0.9952466306 0.0047533694 3.9567618795
249 1 1.13110141449274 0.99710456771 0.0028954323 3.9596573118
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