ELEC ENG 4CL4:

Control System Design

Notes for Lecture #14
Wednesday, February 4, 2004
Dr. Ian C. Bruce
Room: CRL-229
Phone ext.: 26984
Email: ibruce@mail.ece.mcmaster.ca
 ©Goodwin, Graebe, Salgado, Prentice Hall 2000
Chapter 6

Tuning of PID Controllers

Because of their widespread use in practice, we
present below several methods for tuning PID
controllers. Actually these methods are quite old and
date back to the 1950’s. Nonetheless, they remain in
widespread use today.
In particular, we will study.
◆ Ziegler-Nichols Oscillation Method
◆ Ziegler-Nichols Reaction Curve Method
◆ Cohen-Coon Reaction Curve Method
 ©Goodwin, Graebe, Salgado, Prentice Hall 2000
Chapter 6

(1) Ziegler-Nichols (Z-N) Oscillation

Method

This procedure is only valid for open loop stable

plants and it is carried out through the following
steps
◆ Set the true plant under proportional control, with a
very small gain.
◆ Increase the gain until the loop starts oscillating. Note
that linear oscillation is required and that it should be
detected at the controller output.
 ©Goodwin, Graebe, Salgado, Prentice Hall 2000
Chapter 6

◆ Record the controller critical gain Kp = Kc and the

oscillation period of the controller output, Pc.
◆ Adjust the controller parameters according to Table
6.1 (next slide); there is some controversy regarding
the PID parameterization for which the Z-N method
was developed, but the version described here is, to the
best knowledge of the authors, applicable to the
parameterization of standard form PID.
 ©Goodwin, Graebe, Salgado, Prentice Hall 2000
Chapter 6

Table 6.1: Ziegler-Nichols tuning using the

oscillation method

Kp Tr Td
P 0.50Kc
Pc
PI 0.45Kc
1.2
Pc
PID 0.60Kc 0.5Pc
8
 ©Goodwin, Graebe, Salgado, Prentice Hall 2000
Chapter 6

General System
If we consider a general plant of the form:
K0e− sτ
G0(s) = ; γ0 > 0
γ 0s + 1
then one can obtain the PID settings via Ziegler-
Nichols tuning for different values of τ and νγ0. The
next plot shows the resultant closed loop step
∆
responses as a function of the ratio x = γτ .
ν0
 ©Goodwin, Graebe, Salgado, Prentice Hall 2000
Chapter 6

Figure 6.3: PI Z-N tuned (oscillation method) control∆τ

loop for different values of the ratio x = νγ00 .

Ziegler−Nichols (oscillation method) for different values of the ratio x= τ/νγ o

x=0.1
1.5
Plant response

x=0.5
1

0.5 x=2.0

0
0 1 2 3 4 5 6 7 8 9 10
Time [t/τ]
 ©Goodwin, Graebe, Salgado, Prentice Hall 2000
Chapter 6

Numerical Example
Consider a plant with a model given by
1
Go (s) =
(s + 1)3

Find the parameters of a PID controller using the

Z-N oscillation method. Obtain a graph of the
response to a unit step input reference and to a unit
step input disturbance.
 ©Goodwin, Graebe, Salgado, Prentice Hall 2000
Chapter 6

Solution
Applying the procedure we find:
Kc = 8 and ωc = √3.

Hence, from Table 6.1, we have

Kp = 0.6 ∗ Kc = 4.8; Tr = 0.5 ∗ Pc ≈ 1.81; Td = 0.125 ∗ Pc ≈ 0.45

The closed loop response to a unit step in the

reference at t = 0 and a unit step disturbance at t = 10
are shown in the next figure.
 ©Goodwin, Graebe, Salgado, Prentice Hall 2000
Chapter 6

Figure 6.4: Response to step reference and step

input disturbance

PID control tuned with Z−N (oscillation method)

1.5

1
Plant output

0.5

0
0 2 4 6 8 10 12 14 16 18 20
Time [s]
 ©Goodwin, Graebe, Salgado, Prentice Hall 2000
Chapter 6

Different PID Structures?

A key issue when applying PID tuning rules (such as
Ziegler-Nichols settings) is that of which PID
structure these settings are applied to.
To obtain an appreciation of these differences we
evaluate the PID control loop for the same plant in
Example 6.1, but with the Z-N settings applied to the
series structure, i.e. in the notation used in (6.2.5),
we have

Ks = 4.8 Is = 1.81 Ds = 0.45 γs = 0.1

 ©Goodwin, Graebe, Salgado, Prentice Hall 2000
Chapter 6

Figure 6.5: PID Z-N settings applied to series

structure (thick line) and conventional
structure (thin line)

Z−N tuning (oscillation method) with different PID structures

2

1.5
Plant output

0.5

0
0 2 4 6 8 10 12 14 16 18 20
Time [s]
 ©Goodwin, Graebe, Salgado, Prentice Hall 2000
Chapter 6

Observation
In the above example, it has not made much
difference, to which form of PID the tuning rules are
applied. However, the reader is warned that this can
make a difference in general.
 ©Goodwin, Graebe, Salgado, Prentice Hall 2000
Chapter 6

(2) Reaction Curve Based Methods

A linearized quantitative version of a simple plant
can be obtained with an open loop experiment, using
the following procedure:
1. With the plant in open loop, take the plant manually to a
normal operating point. Say that the plant output settles at
y(t) = y0 for a constant plant input u(t) = u0.
2. At an initial time, t0, apply a step change to the plant
input, from u0 to u∞ (this should be in the range of 10 to
20% of full scale).
Cont/...
 ©Goodwin, Graebe, Salgado, Prentice Hall 2000
Chapter 6

3. Record the plant output until it settles to the new operating

point. Assume you obtain the curve shown on the next
slide. This curve is known as the process reaction curve.
In Figure 6.6, m.s.t. stands for maximum slope tangent.
4. Compute the parameter model as follows
y∞ − yo
Ko = ; τ o = t1 − to ; νo = t2 − t1
u∞ − uo
 ©Goodwin, Graebe, Salgado, Prentice Hall 2000
Chapter 6

Figure 6.6: Plant step response

The suggested parameters are shown in Table 6.2.

m.s.t.

y∞

yo

to t1 t2 Time (sec.)
 ©Goodwin, Graebe, Salgado, Prentice Hall 2000
Chapter 6

Table 6.2: Ziegler-Nichols tuning using the reaction

curve

Kp Tr Td
νo
P
Ko τo
0.9νo
PI 3τo
Ko τo
1.2νo
PID 2τo 0.5τo
Ko τo
 ©Goodwin, Graebe, Salgado, Prentice Hall 2000
Chapter 6

General System Revisited

Consider again the general plant:
K0e− sτ
G0( s) =
γ 0s + 1
The next slide shows the closed loop responses
resulting from Ziegler-Nichols Reaction Curve
∆
tuning for different values of x = γτ .
ν0
 ©Goodwin, Graebe, Salgado, Prentice Hall 2000
Chapter 6

Figure 6.7: PI Z-N tuned (reaction curve method)

control loop

Ziegler−Nichols (reaction curve) for different values of the ratio x= τ/νγ o

2

x=0.1
1.5
Plant response

x=0.5

x=2.0
0.5

0
0 5 10 15
Time [t/τ]
 ©Goodwin, Graebe, Salgado, Prentice Hall 2000
Chapter 6

Observation
We see from the previous slide that the Ziegler-
Nichols reaction curve tuning method is very
sensitive to the ratio of delay to time constant.