Result

The response of this model is first demonstrated in open loop system without feedback.
0.02𝑒 −5𝑠
𝑇(𝑠) =
45.65𝑠 + 1

Diagram 1: Open-Loop water temperature control system

Graph 1: Open-loop response with step input=1 at t =1 min

The magnitude of step input is quite big if compared to the output. So another graph with
only output is plotted to make the response be clearly seen.
 Graph 2: Open-loop response with step input=1 at t =1 min (output only)

According to the transfer function, G(s), some of the constant can be obtained.
𝐾 = 0.02, 𝑡𝑑 = 5, 𝜏 = 45.65
Where K is process gain, td is time delay and τ time constant.
Next, PID controller is connected to this circuit and feedback is added.

Diagram 2: Closed-Loop water temperature control system with PID controller

Six methods are used to find the parameters for this model. These methods are Ziegler-
Nichols open-loop tuning method, Ziegler-Nichols ultimate cycling tuning method, Tyreus-
Luyben tuning method, Cohen-Coon tuning method, Chien, Hrones, and Reswick tuning
method, Skogestad’s tuning method, and Lambda tuning method.
I. Ziegler-Nichols Tuning Method (Open-Loop)
This method requires an approximated first order plus dead time (FOPDT) process model to
obtain the constants, which are time delay (td), time constant (τ) and process gain (K).
By making comparison with the FOPDT, the following constants can be obtained.
𝐾𝑒 −𝑡𝑑 𝑠
𝑇(𝑠) =
𝜏𝑠 + 1
0.02𝑒 −5𝑠
𝑇(𝑠) =
45.65𝑠 + 1
𝐾 = 0.02, 𝑡𝑑 = 5, 𝜏 = 45.65
These three constants will be used in the next several tuning methods.
These constants are used to calculate the parameter of PID controller using the following
formula.
Type of Controller Kp Ti Td
𝜏
P = 456.5 ∞ 0
𝐾 ∙ 𝑡𝑑
0.9𝜏 𝑡𝑑
PI = 410.85 = 16.67 0
𝐾 ∙ 𝑡𝑑 0.3
1.2𝜏
PID = 547.8 2𝑡𝑑 = 10 0.5𝑡𝑑 = 2.5
𝐾 ∙ 𝑡𝑑
Table 1: Ziegler-Nichols Tuning Rule using Open-Loop Step Response

The Ziegler-Nichols tuning methods aim for a quarter-amplitude damping response.

Although the quarter-amplitude damping type of tuning provides very fast rejection of
disturbances, it makes the loop very oscillatory, often causing interactions with similarly-
tuned loops. Quarter-amplitude damping-type tuning also leaves the loop vulnerable to going
unstable if the process gain or dead time increases.
The easy fix for both problems is to reduce the controller gain by half.
Type of Controller Kp Ti Td
P 228.250 ∞ 0
PI 205.425 16.67 0
PID 273.9 10 2.5
Table 2: Kp divided by 2
Graph 3: Unit-step response curve of PID controlled system designed by use of the Ziegler–Nichols tuning rule
(open-looped).

Type of Peak Time Overshoot Settling Rise Time Steady State

controller (min) (%) Time (min) (min) Error (%)
P 16.010 5.63 28.0 8.10 18
PI 21.453 30.00 52.2 8.31 0
PID 17.523 35.40 66.0 4.40 0
Table 3: Standard Performance Measures
II. Ziegler-Nichols Tuning Method (Ultimate Cycling)
In this method, we first set 𝑇𝑖 = ∞ and 𝑇𝑑 = 0. Using the proportional control action only,
increase Kp from 0 to a critical value Kcr at which the output first exhibits sustained
oscillations. Thus, the critical gain Kcr and the corresponding period Pcr are experimentally
determined.

Graph 4: Sustained oscillation when Kcr = 749.

Kcr = 749
Pcr = 52.15-32.96
= 19.19min
Type of Controller Kp Ti Td
P 0.5𝐾𝑐𝑟 = 374.5 ∞ 0
1
PI 0.45𝐾𝑐𝑟 = 337.05 𝑃 = 15.99 0
1.2 𝑐𝑟
PID 0.6𝐾𝑐𝑟 = 449.4 0.5𝑃𝑐𝑟 = 9.59 0.125𝑃𝑐𝑟 = 2.4
Table 4: Ziegler-Nichols Tuning Rule using sustained oscillation
The proportional gain, Kp is also cut into half.
Type of Controller Kp Ti Td
P 187.250 ∞ 0
PI 168.525 15.99 0
PID 224.700 9.59 2.4
Table 5: Kp divided by 2

Graph 5: Unit-step response curve of PID controlled system designed by use of the Ziegler–Nichols tuning rule
(sustained oscillation).

Type of Peak Time Overshoot Settling Rise Time Steady State

controller (min) (%) Time (min) (min) Error (%)
P 22.473 0.99 20.5 10.70 21
PI 26.563 28.20 83.6 10.20 0
PID 20.300 38.40 96.4 6.83 0
Table 6: Standard Performance Measures
III. Tyreus-Luyben Tuning Method
This method uses the constants that obtained from Ziegler-Nichols ultimate cycling tuning
method.
Kcr = 749
Pcr = 52.15-32.96
= 19.19min

Type of Controller Kp Ti Td
𝐾𝑐𝑟
PI = 234.06 2.2𝑃𝑐𝑟 = 42.218 0
3.2
𝐾𝑐𝑟 𝑃𝑐𝑟
PID = 340.45 2.2𝑃𝑐𝑟 = 42.218 = 3.05
2.2 6.3
Table 7: Tyreus-Luyben Tuning Rule using sustained oscillation

Graph 6: Unit-step response curve of PID controlled system designed by use of the Tyreus-Luyben tuning rule.

Type of Peak Time Overshoot Settling Rise Time Steady State

controller (min) (%) Time (min) (min) Error (%)
PI 18.17 6.29 33.4 8.99 0
PID 5.74 20 42.1 3.06 0
Table 8: Standard Performance Measures
IV. Cohen-Coon Tuning Method
This method requires an approximated first order plus dead time (FOPDT) process model.
The constants can be obtained from Ziegler-Nichols open-looped tuning method.
𝐾 = 0.02, 𝑡𝑑 = 5, 𝜏 = 45.65
Type of Controller Kp Ti Td
1.03 𝜏
( + 0.34)
P 𝐾 𝑡𝑑 ∞ 0
= 487.705
0.9 𝜏 𝜏 + 0.092𝑡𝑑
( + 0.092) 3.33𝑡𝑑
PI 𝐾 𝑡𝑑 𝜏 + 2.22𝑡𝑑 0
= 414.99 = 16.63
1.24 𝜏 𝜏 − 0.324𝑡𝑑
( + 0.129) 0.27𝑡𝑑
PD 𝐾 𝑡𝑑 ∞ 𝜏 + 0.129𝑡𝑑
= 574.058 = 1.284
1.35 𝜏 𝜏 + 0.185𝑡𝑑 𝜏
( + 0.185) 2.5𝑡𝑑 0.37𝑡𝑑
PID 𝐾 𝑡𝑑 𝜏 + 0.611𝑡𝑑 𝜏 + 0.185𝑡𝑑
= 628.76 = 11.953 = 1.813
Table 9: Cohen-Coon Tuning Rule using open-looped step response

The proportional gain, Kp is cut into half to decrease oscillation effect.

Type of Controller Kp Ti Td
P 487.705 ∞ 0
PI 414.990 16.630 0
PD 574.058 ∞ 1.284
PID 628.760 11.953 1.813
Table 10: Kp divided by 2
Graph 7: Unit-step response curve of PID controlled system designed by use of the Cohen-Coon tuning rule

Type of Peak Time Overshoot Settling Rise Time Steady State

controller (min) (%) Time (min) (min) Error (%)
P 14.81 7.96 27.6 7.43 17
PI 21.20 30.30 51.7 8.21 0
PD 11.08 3.27 19.0 5.77 15
PID 10.59 34.40 57.4 4.03 0
Table 11: Standard Performance Measures
V. Chien, Hrones, and Reswick Tuning Method
This method also uses the same constant from Ziegler-Nichols method.
𝐾 = 0.02, 𝑡𝑑 = 5, 𝜏 = 45.65
𝐾𝑡𝑑
𝑎=
𝜏
𝑎 = 0.00219
There are two types of formula for different purposes which are set-point regulation and
disturbance rejection. However set-point regulation is chosen for this model. In set-point
regulation, there are two types of formula, which are 0% overshoot formula and 20%
overshoot formula.
Table 10 shows the parameters for 0% overshoot.
With 0% overshoot
Type of Controller
Kp Ti Td
P 0.3/𝑎 = 136.99 ∞ 0
PI 0.35/𝑎 = 159.82 1.2𝜏 = 54.78 0
PID 0.6/𝑎 = 273.97 𝜏 = 45.65 0.125𝑡𝑑 = 2.5
Table 12: Chien, Hrones, and Reswick Tuning Rule using open-looped step response (0% overshoot)

Graph 8: Unit-step response curve of PID controlled system designed by use of the Chien, Hrones, and Reswick
tuning rule (0% overshoot)
 Type of Peak Time Overshoot Settling Rise Time Steady State
controller (min) (%) Time (min) (min) Error (%)
P - 0 34.3 17.00 26.7
PI - 0 76.5 20.70 0
PID 7.77 0 25.1 5.02 0
Table 13: Standard Performance Measures

Table 12 shows the parameters for 20% overshoot.

With 20% overshoot
Type of Controller
Kp Ti Td
P 0.7/𝑎 = 319.63 ∞ 0
PI 0.6/𝑎 = 273.97 𝜏 = 45.65 0
PID 0.95/𝑎 = 433.79 1.4𝜏 = 63.91 0.47𝑡𝑑 = 2.35
Table 14: Chien, Hrones, and Reswick Tuning Rule using open-looped step response (20% overshoot)

Graph 9: Unit-step response curve of PID controlled system designed by use of the Chien, Hrones, and Reswick
tuning rule (20% overshoot)

Type of Peak Time Overshoot Settling Rise Time Steady State

controller (min) (%) Time (min) (min) Error (%)
P 11.70 21.3 35.0 5.38 14
PI 14.70 11.7 28.4 7.23 0
PID 5.79 39.4 65.2 2.48 0
Table 15: Standard Performance Measures
VI. Skogestad’s Tuning Method
In this method, the constants used are same as in Ziegler-Nichols method.
𝐾 = 0.02, 𝑡𝑑 = 5, 𝜏 = 45.65
Skogestad’s tuning formulas are different for different processes. So the formula is chosen
𝐾
based on the model with transfer function, 𝐺(𝑠) = 𝜏𝑠+1 𝑒 −𝜏𝑠 . This formula will only give the
parameters of PI controller.
Type of Controller Kp Ti
𝜏
PI = 228.25 4(𝑡𝑑 + 𝑡𝑑 ) = 40
𝐾(𝑡𝑑 + 𝑡𝑑 )
Table 16: Skogestad’s Tuning Rule using open-looped step response

Graph 10: Unit-step response curve of PID controlled system designed by use of the Skogestad’s tuning rule

Type of Peak Time Overshoot Settling Rise Time Steady State

controller (min) (%) Time (min) (min) Error (%)
PI 19.01 6.51 37.7 9.24 0
Table 17: Standard Performance Measures
VII. Lambda Tuning Method
This method uses the constants that obtained in Ziegler-Nichols method.
𝐾 = 0.02, 𝑡𝑑 = 5, 𝜏 = 45.65
In this method, we need to pick up a desired closed loop time constant, 𝜏𝑐𝑙 . Generally, the
value for 𝜏𝑐𝑙 should be set between one and three times the value of 𝜏. So, in order to achieve
a very stable control loop, 𝜏𝑐𝑙 = 3𝜏 is chosen.
Type of controller Kp Ti
𝜏
PI = 16.08 𝜏 = 45.65
𝐾(𝜏𝑐𝑙 + 𝑡𝑑 )
Table 18: Lambda Tuning Rule using open-looped step response

Graph 11: Unit-step response curve of PID controlled system designed by use of the Lambda tuning rule

Type of Peak Time Overshoot Settling Rise Time Steady State

controller (min) (%) Time (min) (min) Error (%)
PI - 0 541 301 0
Table 19: Standard Performance Measures