PID LOOP SIMULATOR

Process
Gain (K) 2
Time Constant (T) 10 Output
Delay (L) 15 Set Point Controller
C + 1/Is + Ds
+
Controller -
Gain (C) 0.1
Integral (I) 80
Derivative (D) 0

(All times in seconds)

SetPoint / Process Value

PID Loop Simulation Process Value

1.2

0.8

0.6

0.4

0.2

0
102
109
116
123
130
137
144
151
158
165
172
179
186
193
200
207
214
221
228
235
-10

11
18
25
32
39
46
53
60
67
74
81
88
95
-3
4

Time (sec)
LATOR

Output
Process Process Value
K/(1+Ts) * e^(-Ls)

tion Process Value Set Point Output

0.6

0.5

0.4
Output

0.3

0.2

0.1

0
158
165
172
179
186
193
200
207
214
221
228
235
242
249
256
263
270
277
284
291
298
t SP OP PV 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 0.1125 0 1 1
1 1 0.125 0 1 2
2 1 0.1375 0 1 3
3 1 0.15 0 1 4
4 1 0.1625 0 1 5
5 1 0.175 0 1 6
6 1 0.1875 0 1 7
7 1 0.2 0 1 8
8 1 0.2125 0 1 9
9 1 0.225 0 1 10
10 1 0.2375 0 1 11
11 1 0.25 0 1 12
12 1 0.2625 0 1 13
13 1 0.275 0 1 14
14 1 0.2875 0 1 15
15 1 0.3 0 1 16
16 1 0.310091 0.021412 0.978588 16.97859
17 1 0.319876 0.043165 0.956835 17.93542
18 1 0.329355 0.065227 0.934773 18.8702
19 1 0.338526 0.087568 0.912432 19.78263
20 1 0.34739 0.110163 0.889837 20.67247
21 1 0.355945 0.132986 0.867014 21.53948
22 1 0.364192 0.156017 0.843983 22.38346
23 1 0.372129 0.179235 0.820765 23.20423
24 1 0.379758 0.202623 0.797377 24.0016
25 1 0.387077 0.226164 0.773836 24.77544
26 1 0.394086 0.249844 0.750156 25.5256
27 1 0.400784 0.273649 0.726351 26.25195
28 1 0.407173 0.297568 0.702432 26.95438
29 1 0.413251 0.32159 0.67841 27.63279
30 1 0.419018 0.345706 0.654294 28.28708
31 1 0.424474 0.369905 0.630095 28.91718
32 1 0.429671 0.393722 0.606278 29.52346
33 1 0.434616 0.417135 0.582865 30.10632
34 1 0.439315 0.440124 0.559876 30.6662
35 1 0.443777 0.46267 0.53733 31.20353
36 1 0.448009 0.484758 0.515242 31.71877
37 1 0.452018 0.506373 0.493627 32.2124
38 1 0.455811 0.5275 0.4725 32.6849
39 1 0.459397 0.548127 0.451873 33.13677
40 1 0.462782 0.568244 0.431756 33.56853
41 1 0.465975 0.587838 0.412162 33.98069
42 1 0.468982 0.606903 0.393097 34.37378
43 1 0.471812 0.625428 0.374572 34.74836
44 1 0.474471 0.643405 0.356595 35.10495
45 1 0.476969 0.660829 0.339171 35.44412
46 1 0.479311 0.677693 0.322307 35.76643
47 1 0.481506 0.69399 0.30601 36.07244
48 1 0.483561 0.709725 0.290275 36.36271
49 1 0.485482 0.724904 0.275096 36.63781
50 1 0.487275 0.739533 0.260467 36.89828
51 1 0.488946 0.753619 0.246381 37.14466
52 1 0.490502 0.76717 0.23283 37.37749
53 1 0.491947 0.780195 0.219805 37.59729
54 1 0.493287 0.792702 0.207298 37.80459
55 1 0.494529 0.804701 0.195299 37.99989
56 1 0.495676 0.816203 0.183797 38.18369
57 1 0.496734 0.827217 0.172783 38.35647
58 1 0.497708 0.837756 0.162244 38.51871
59 1 0.498603 0.847831 0.152169 38.67088
60 1 0.499423 0.857453 0.142547 38.81343
61 1 0.500171 0.866635 0.133365 38.94679
62 1 0.500854 0.875388 0.124612 39.07141
63 1 0.501473 0.883727 0.116273 39.18768
64 1 0.502034 0.891663 0.108337 39.29602
65 1 0.502539 0.89921 0.10079 39.39681
66 1 0.502992 0.906379 0.093621 39.49043
67 1 0.503397 0.913185 0.086815 39.57724
68 1 0.503756 0.919638 0.080362 39.6576
69 1 0.504073 0.925753 0.074247 39.73185
70 1 0.50435 0.931541 0.068459 39.80031
71 1 0.50459 0.937014 0.062986 39.8633
72 1 0.504795 0.942185 0.057815 39.92111
73 1 0.504969 0.947065 0.052935 39.97404
74 1 0.505113 0.951667 0.048333 40.02238
75 1 0.50523 0.956 0.044 40.06638
76 1 0.505321 0.960078 0.039922 40.1063
77 1 0.505389 0.963909 0.036091 40.14239
78 1 0.505435 0.967506 0.032494 40.17488
79 1 0.505462 0.970879 0.029121 40.20401
80 1 0.505471 0.974037 0.025963 40.22997
81 1 0.505463 0.976991 0.023009 40.25298
82 1 0.50544 0.97975 0.02025 40.27323
83 1 0.505404 0.982324 0.017676 40.2909
84 1 0.505355 0.984721 0.015279 40.30618
85 1 0.505295 0.98695 0.01305 40.31923
86 1 0.505226 0.98902 0.01098 40.33021
87 1 0.505147 0.990938 0.009062 40.33927
88 1 0.505061 0.992713 0.007287 40.34656
 89 1 0.504967 0.994352 0.005648 40.35221
90 1 0.504868 0.995863 0.004137 40.35635
91 1 0.504763 0.997252 0.002748 40.35909
92 1 0.504654 0.998526 0.001474 40.36057
93 1 0.504542 0.999692 0.000308 40.36088
94 1 0.504426 1.000756 -0.000756 40.36012
95 1 0.504308 1.001724 -0.001724 40.3584
96 1 0.504187 1.002601 -0.002601 40.3558
97 1 0.504066 1.003393 -0.003393 40.3524
98 1 0.503943 1.004106 -0.004106 40.3483
99 1 0.50382 1.004743 -0.004743 40.34355
100 1 0.503697 1.005311 -0.005311 40.33824
101 1 0.503574 1.005814 -0.005814 40.33243
102 1 0.503452 1.006255 -0.006255 40.32617
103 1 0.50333 1.006639 -0.006639 40.31953
104 1 0.50321 1.006971 -0.006971 40.31256
105 1 0.503091 1.007253 -0.007253 40.30531
106 1 0.502974 1.007489 -0.007489 40.29782
107 1 0.502858 1.007683 -0.007683 40.29014
108 1 0.502745 1.007838 -0.007838 40.2823
109 1 0.502634 1.007956 -0.007956 40.27434
110 1 0.502525 1.008042 -0.008042 40.2663
111 1 0.502418 1.008096 -0.008096 40.25821
112 1 0.502314 1.008123 -0.008123 40.25008
113 1 0.502212 1.008123 -0.008123 40.24196
114 1 0.502113 1.008101 -0.008101 40.23386
115 1 0.502017 1.008057 -0.008057 40.2258
116 1 0.501923 1.007994 -0.007994 40.21781
117 1 0.501832 1.007913 -0.007913 40.2099
118 1 0.501744 1.007817 -0.007817 40.20208
119 1 0.501659 1.007707 -0.007707 40.19437
120 1 0.501576 1.007585 -0.007585 40.18679
121 1 0.501497 1.007451 -0.007451 40.17933
122 1 0.50142 1.007308 -0.007308 40.17203
123 1 0.501345 1.007157 -0.007157 40.16487
124 1 0.501274 1.006998 -0.006998 40.15787
125 1 0.501205 1.006833 -0.006833 40.15104
126 1 0.501138 1.006664 -0.006664 40.14437
127 1 0.501075 1.00649 -0.00649 40.13788
128 1 0.501013 1.006312 -0.006312 40.13157
129 1 0.500955 1.006133 -0.006133 40.12544
130 1 0.500898 1.005951 -0.005951 40.11949
131 1 0.500845 1.005769 -0.005769 40.11372
132 1 0.500793 1.005586 -0.005586 40.10813
133 1 0.500744 1.005403 -0.005403 40.10273
134 1 0.500697 1.005221 -0.005221 40.09751
135 1 0.500652 1.00504 -0.00504 40.09247
136 1 0.500609 1.00486 -0.00486 40.08761
137 1 0.500568 1.004683 -0.004683 40.08293
138 1 0.50053 1.004507 -0.004507 40.07842
139 1 0.500493 1.004334 -0.004334 40.07409
140 1 0.500458 1.004164 -0.004164 40.06992
141 1 0.500424 1.003997 -0.003997 40.06592
142 1 0.500393 1.003833 -0.003833 40.06209
143 1 0.500363 1.003673 -0.003673 40.05842
144 1 0.500335 1.003516 -0.003516 40.0549
145 1 0.500308 1.003364 -0.003364 40.05154
146 1 0.500283 1.003214 -0.003214 40.04832
147 1 0.500259 1.003069 -0.003069 40.04525
148 1 0.500236 1.002928 -0.002928 40.04233
149 1 0.500215 1.002791 -0.002791 40.03953
150 1 0.500195 1.002658 -0.002658 40.03688
151 1 0.500176 1.002529 -0.002529 40.03435
152 1 0.500159 1.002404 -0.002404 40.03194
153 1 0.500142 1.002284 -0.002284 40.02966
154 1 0.500127 1.002167 -0.002167 40.02749
155 1 0.500112 1.002055 -0.002055 40.02544
156 1 0.500099 1.001946 -0.001946 40.02349
157 1 0.500086 1.001842 -0.001842 40.02165
158 1 0.500075 1.001741 -0.001741 40.01991
159 1 0.500064 1.001645 -0.001645 40.01826
160 1 0.500054 1.001552 -0.001552 40.01671
161 1 0.500044 1.001463 -0.001463 40.01525
162 1 0.500036 1.001377 -0.001377 40.01387
163 1 0.500028 1.001296 -0.001296 40.01257
164 1 0.50002 1.001217 -0.001217 40.01136
165 1 0.500013 1.001142 -0.001142 40.01022
166 1 0.500007 1.001071 -0.001071 40.00914
167 1 0.500002 1.001002 -0.001002 40.00814
168 1 0.499996 1.000937 -0.000937 40.0072
169 1 0.499992 1.000875 -0.000875 40.00633
170 1 0.499987 1.000816 -0.000816 40.00551
171 1 0.499983 1.00076 -0.00076 40.00475
172 1 0.49998 1.000706 -0.000706 40.00405
173 1 0.499977 1.000656 -0.000656 40.00339
174 1 0.499974 1.000607 -0.000607 40.00278
175 1 0.499972 1.000562 -0.000562 40.00222
176 1 0.499969 1.000519 -0.000519 40.0017
177 1 0.499968 1.000478 -0.000478 40.00123
178 1 0.499966 1.000439 -0.000439 40.00079
179 1 0.499965 1.000402 -0.000402 40.00039
180 1 0.499963 1.000368 -0.000368 40.00002
181 1 0.499962 1.000336 -0.000336 39.99968
182 1 0.499962 1.000305 -0.000305 39.99938
183 1 0.499961 1.000276 -0.000276 39.9991
184 1 0.499961 1.000249 -0.000249 39.99885
185 1 0.49996 1.000224 -0.000224 39.99863
186 1 0.49996 1.0002 -0.0002 39.99843
187 1 0.49996 1.000178 -0.000178 39.99825
188 1 0.49996 1.000157 -0.000157 39.99809
189 1 0.499961 1.000138 -0.000138 39.99795
190 1 0.499961 1.00012 -0.00012 39.99783
191 1 0.499961 1.000103 -0.000103 39.99773
192 1 0.499962 1.000087 -8.74E-05 39.99764
193 1 0.499962 1.000073 -7.29E-05 39.99757
194 1 0.499963 1.000059 -5.95E-05 39.99751
195 1 0.499964 1.000047 -4.71E-05 39.99746
196 1 0.499964 1.000036 -3.56E-05 39.99743
197 1 0.499965 1.000025 -2.51E-05 39.9974
198 1 0.499966 1.000015 -1.54E-05 39.99739
199 1 0.499967 1.000007 -6.57E-06 39.99738
200 1 0.499967 0.999998 1.53E-06 39.99738
201 1 0.499968 0.999991 8.92E-06 39.99739
202 1 0.499969 0.999984 1.56E-05 39.99741
203 1 0.49997 0.999978 2.17E-05 39.99743
204 1 0.499971 0.999973 2.72E-05 39.99746
205 1 0.499972 0.999968 3.21E-05 39.99749
206 1 0.499973 0.999964 3.64E-05 39.99752
207 1 0.499974 0.99996 4.03E-05 39.99757
208 1 0.499974 0.999956 4.38E-05 39.99761
209 1 0.499975 0.999953 4.68E-05 39.99766
210 1 0.499976 0.999951 4.94E-05 39.99771
211 1 0.499977 0.999948 5.16E-05 39.99776
212 1 0.499978 0.999947 5.35E-05 39.99781
213 1 0.499979 0.999945 5.51E-05 39.99787
214 1 0.49998 0.999944 5.63E-05 39.99792
215 1 0.49998 0.999943 5.73E-05 39.99798
216 1 0.499981 0.999942 5.81E-05 39.99804
217 1 0.499982 0.999941 5.86E-05 39.9981
218 1 0.499983 0.999941 5.89E-05 39.99815
219 1 0.499984 0.999941 5.9E-05 39.99821
220 1 0.499984 0.999941 5.89E-05 39.99827
221 1 0.499985 0.999941 5.86E-05 39.99833
222 1 0.499986 0.999942 5.83E-05 39.99839
223 1 0.499986 0.999942 5.77E-05 39.99845
224 1 0.499987 0.999943 5.71E-05 39.9985
225 1 0.499988 0.999944 5.64E-05 39.99856
226 1 0.499988 0.999944 5.55E-05 39.99862
227 1 0.499989 0.999945 5.46E-05 39.99867
228 1 0.499989 0.999946 5.36E-05 39.99872
229 1 0.49999 0.999947 5.25E-05 39.99878
230 1 0.49999 0.999949 5.14E-05 39.99883
231 1 0.499991 0.99995 5.02E-05 39.99888
232 1 0.499991 0.999951 4.9E-05 39.99893
233 1 0.499992 0.999952 4.78E-05 39.99897
234 1 0.499992 0.999954 4.65E-05 39.99902
235 1 0.499993 0.999955 4.52E-05 39.99907
236 1 0.499993 0.999956 4.39E-05 39.99911
237 1 0.499994 0.999957 4.26E-05 39.99915
238 1 0.499994 0.999959 4.12E-05 39.99919
239 1 0.499994 0.99996 3.99E-05 39.99923
240 1 0.499995 0.999961 3.86E-05 39.99927
241 1 0.499995 0.999963 3.73E-05 39.99931
242 1 0.499995 0.999964 3.59E-05 39.99935
243 1 0.499996 0.999965 3.47E-05 39.99938
244 1 0.499996 0.999967 3.34E-05 39.99941
245 1 0.499996 0.999968 3.21E-05 39.99945
246 1 0.499997 0.999969 3.09E-05 39.99948
247 1 0.499997 0.99997 2.96E-05 39.99951
248 1 0.499997 0.999972 2.84E-05 39.99954
249 1 0.499997 0.999973 2.73E-05 39.99956
250 1 0.499997 0.999974 2.61E-05 39.99959
251 1 0.499998 0.999975 2.5E-05 39.99961
252 1 0.499998 0.999976 2.39E-05 39.99964
253 1 0.499998 0.999977 2.28E-05 39.99966
254 1 0.499998 0.999978 2.18E-05 39.99968
255 1 0.499998 0.999979 2.08E-05 39.9997
256 1 0.499999 0.99998 1.98E-05 39.99972
257 1 0.499999 0.999981 1.88E-05 39.99974
258 1 0.499999 0.999982 1.79E-05 39.99976
259 1 0.499999 0.999983 1.7E-05 39.99978
260 1 0.499999 0.999984 1.62E-05 39.99979
261 1 0.499999 0.999985 1.53E-05 39.99981
262 1 0.499999 0.999985 1.45E-05 39.99982
263 1 0.499999 0.999986 1.38E-05 39.99984
264 1 0.499999 0.999987 1.3E-05 39.99985
265 1 0.499999 0.999988 1.23E-05 39.99986
266 1 0.5 0.999988 1.16E-05 39.99987
267 1 0.5 0.999989 1.09E-05 39.99988
268 1 0.5 0.99999 1.03E-05 39.99989
269 1 0.5 0.99999 9.71E-06 39.9999
270 1 0.5 0.999991 9.13E-06 39.99991
271 1 0.5 0.999991 8.57E-06 39.99992
272 1 0.5 0.999992 8.04E-06 39.99993
273 1 0.5 0.999992 7.53E-06 39.99994
274 1 0.5 0.999993 7.05E-06 39.99994
275 1 0.5 0.999993 6.58E-06 39.99995
276 1 0.5 0.999994 6.14E-06 39.99996
277 1 0.5 0.999994 5.72E-06 39.99996
278 1 0.5 0.999995 5.33E-06 39.99997
279 1 0.5 0.999995 4.95E-06 39.99997
280 1 0.5 0.999995 4.59E-06 39.99998
281 1 0.5 0.999996 4.25E-06 39.99998
282 1 0.5 0.999996 3.92E-06 39.99999
283 1 0.5 0.999996 3.62E-06 39.99999
284 1 0.5 0.999997 3.33E-06 39.99999
285 1 0.5 0.999997 3.06E-06 40
286 1 0.5 0.999997 2.8E-06 40
287 1 0.5 0.999997 2.56E-06 40
288 1 0.5 0.999998 2.33E-06 40
289 1 0.5 0.999998 2.11E-06 40.00001
290 1 0.5 0.999998 1.91E-06 40.00001
291 1 0.5 0.999998 1.72E-06 40.00001
292 1 0.5 0.999998 1.54E-06 40.00001
293 1 0.5 0.999999 1.37E-06 40.00001
294 1 0.5 0.999999 1.22E-06 40.00001
295 1 0.5 0.999999 1.07E-06 40.00001
296 1 0.5 0.999999 9.37E-07 40.00002
297 1 0.5 0.999999 8.1E-07 40.00002
298 1 0.5 0.999999 6.92E-07 40.00002
299 1 0.5 0.999999 5.83E-07 40.00002
300 1 0.5 1 4.82E-07 40.00002