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PID Controller Tuning with Ziegler-Nichols

The document outlines the Ziegler–Nichols tuning rules for PID controllers based on the step response of a plant. It provides specific values for proportional gain (Kp), integral time (Ti), and derivative time (Td) for different types of controllers, along with a mathematical representation of the controller's transfer function. Additionally, it describes a second method for tuning using critical gain and sustained oscillations.

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Belgacem Bekkar
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13 views1 page

PID Controller Tuning with Ziegler-Nichols

The document outlines the Ziegler–Nichols tuning rules for PID controllers based on the step response of a plant. It provides specific values for proportional gain (Kp), integral time (Ti), and derivative time (Td) for different types of controllers, along with a mathematical representation of the controller's transfer function. Additionally, it describes a second method for tuning using critical gain and sustained oscillations.

Uploaded by

Belgacem Bekkar
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Table 8–1 Ziegler–Nichols Tuning Rule Based on Step Response

of Plant (First Method)


Type of
Controller Kp Ti Td

T
P q 0
L
T L
PI 0.9 0
L 0.3
T
PID 1.2 2L 0.5L
L

function C(s)/U(s) may then be approximated by a first-order system with a transport


lag as follows:
C(s) Ke-Ls
=
U(s) Ts + 1

Ziegler and Nichols suggested to set the values of Kp , Ti , and Td according to the formula
shown in Table 8–1.
Notice that the PID controller tuned by the first method of Ziegler–Nichols rules
gives
1
Gc(s) = Kp a 1 + + Td s b
Ti s
T 1
= 1.2 a1 + + 0.5Ls b
L 2Ls
1 2
as + b
L
= 0.6T
s

Thus, the PID controller has a pole at the origin and double zeros at s=–1/L.

Second Method. In the second method, we first set Ti = q and Td = 0. Using the
proportional control action only (see Figure 8–4), increase Kp from 0 to a critical value
Kcr at which the output first exhibits sustained oscillations. (If the output does not ex-
hibit sustained oscillations for whatever value Kp may take, then this method does not
apply.) Thus, the critical gain Kcr and the corresponding period Pcr are experimentally

r(t) u(t) c(t)


Figure 8–4 + Kp Plant
–
Closed-loop system
with a proportional
controller.

570 Chapter 8 / PID Controllers and Modified PID Controllers

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