We will consider the following unity feedback system:

Suppose we have a simple mass, spring, and damper problem.

The modeling equation of this system is (1) Taking the Laplace transform of the modeling equation (1)

The transfer function between the displacement X(s) and the input F(s) then becomes

Let

M = 1kg b = 10 N.s/m k = 20 N/m F(s) = 1

Plug these values into the above transfer function

Open Loop Response of the system :

See file Open Loop Response for code

We can use any real life example, in further work, we have used this third order transfer function to work with :

With open loop response

PID Tuning by Zeigler Nicholas Technique Closed Loop Method The closed loop transfer function becomes :

We start with only proportional control, with k = 1 closed loop response was

Increase the value of k to achieve sustained oscillations at k = 50

Therefore Kc = 50 and Tc = 1.90s

Using : See page 39 of this : http://arri.uta.edu/acs/jyotirmay/EE4343/Labs_Projects/pidcontrollers.pdf

Control P only PI PID tight control PID some overshoot PID no overshoot

Kp 0.5 Kc

Ti

Td

0.45 Kc 0.833 Tc 0.6 Kc 0.33 Kc 0.2 Kc 0.5 Tc 0.5 Tc 0.3 Tc 0.125 Tc 0.33 Tc 0.5 Tc

Following parameters were obtained : K 25 22.5 30 Ti 1.5827 0.95 Td

P PI PID tight control

0.2375

Also, Closed loop transfer function of PID controller becomes :

With values as shown in the table. Plots using these controllers are shown : Blue P controller Green PI controller Red PID controller

Cohen Cune Tuning Method Referred to this : http://www.chem.mtu.edu/~tbco/cm416/cctune.html And Page 35, 41 of this : http://arri.uta.edu/acs/jyotirmay/EE4343/Labs_Projects/pidcontrollers.pdf

From open loop response :

From CC Recommendations :