PID controller Tuning

Methods
Outline of the lesson
❖ Ziegler-Nichols tuning method
❖ Design of PID controllers with computational optimization approach
❖ Modifications of PID controllers schemes
❖ Two-degree freedom controller
❖ Zero-placement method
❖ Practice examples
❖ MATLAB demonstration
PID in real-life. Let’s analyze
https://youtu.be/rIbWnB26dp0 - Arduino projects with PID controller

https://youtu.be/fusr9eTceEo - Closed-loop control of an inverted pendulum using PID

controller
PID Controllers in Process Automation
Simple Control example
Bang-bang controller drawback in industry
An industrial example of process control. Tank level control

What’s wrong with this

process control?
Let’s consider what is PID controller
Feedback Control using PID
PID Controllers in PLC
Stand-alone PID Controllers
PID Controller parameters
P-controller
Proportional Block
Integral block
Integral block
Derivative block
Derivative block
Controller tuning
PID Control example
Ziegler-Nichols’ first method
❖ First method - this is used when the unit-step response involves integrator (S - shape)
or dominant complex-conjugate poles.

In the figure shown right, the behavior of the unit-step response can
be observed and there is a tangent line at inflection point
Ziegler-Nichols’ first method
❖ The S-shaped curve may be characterized by two constants, delay time L and time constant T. The delay
time and time constant are determined by drawing a tangent line at the inflection point of the S-shaped curve
and determining the intersection.
❖ Use the table below to tune the PID coefficients using the first method
Ziegler-Nichols’ first method
Then using the coefficients suggested by the first Ziegler Nichols’ method the transfer
function of the PID controller can be simplified as follows
Ziegler-Nichols’ second method
When to use: In this method, the key aspect is to set the Ti = inf and Td = 0 and regulate
Kp from 0 to the critical value of Kcr at which the output first exhibits sustained
oscillations.

Note: If the output doesn’t exhibits any fluctuations, then you will not use this method.
Ziegler-Nichols’ second method
Case studies

★ Plant model is known: Kcr coefficient can be found using root-locus or other
methods. Pcr is obtained from the frequency of the sustained oscillations
★ Plant model is unknown: Obtained experimentally using the unit-step response and
empirical analysis
Ziegler-Nichols’ second method
Example 1
Design of PID controllers with computational optimization approach

Obtain the optimal set of PID parameters to satisfy the transient response.

Let’s practice with example below.

Find the set of optimal parameters K and a, in which the closed-loop system (shown
below) will have 10% (or less) maximum overshoot in the unit-step response.
Example 3
For the system shown below, find the best controller parameters such that the closed-loop
system has a maximum overshoot between 10% and 15% and 3s of settling time. Given
the following search regions
Modifications of PID controllers
In the basic PID control system such as the one
shown in the figure, if the reference input is a step
function, then, because of the presence of the
derivative term in the control action, the manipulated
variable u(t) will involve an impulse function (delta
function). In an actual PID controller, instead of the
pure derivative term Td s, we employ
PI-D control
I-PD control
I-PD controller
Two-degrees of freedom control
The general block diagrams of two-degrees of freedom control
Two-degrees of freedom control
Zero-placement method with two degrees of freedom control system