SUMMARY

Objective: To identify the optimum tuning for each process with

P, PI, and PID
controller. Tuning

Tuning
Formulas
for Cohen
Coon
Controller
Settings

Formulas for
Quarter
Decay Ratio
Response

Controller
Modes &
Tuning
Formulas for
Dahlin
Synthesis

Tuning
Formul
as

Minimum
Error
Integral
Tuning
IAE
Formulas
for Set
Point
Changes

Minimum
Error Integral
Tuning ITAE
for Set Point
Changes

INTRODUCTION
To clarify favorable tuning formula for controller
5 different tuning formulas :
a) Quarter Decay Ratio Response
b) Minimum Error Integral Tuning IAE
c) Minimum Error Integral Tuning ITAE
d) Dahlin Synthesis
e) Cohen Coon controller settings
Focus: determine optimum tuning
Optimum tuning -> less error, fast settling time, less
overshoot

THEORY
Open Loop System
- to achieve desired results
- non-feedback system
- more prone to errors
-cannot compensate for disturbance

 P, PI and PID controller

- P : proportional to error signal
: to adjust controller gain, obtain steady-state output
- PI : depends integral of error signal over time
: advantage -> eliminate offset
-PID : anticipate future behavior of error signal

 Quarter Decay Ratio Response

- one-quarter of the first peak.
Minimum Error Integral Tuning IAE & ITAE
- an alternative approach to develop controller design
- integral time depends on effective process time, less on process dead time.
Dahlin Synthesis
- closed loop behave like 1st order plus time-delay system with unit gain
- time-constant of desired closed loop response.
Cohen Coon controller settings
- sensitive than Ziegler-Nichols .
- to correct slow closed loop deficiency.

METHODOLOGY
Given from the manual mode, the values of Gain(K), Lag Time
(TL) and Dead Time (TD) are:
K=67.5
TL=1.5
TD=5
Substitute into each of 5 methods.
Set I=9999 and D=0 for P controller, and D=0 for PI controller.
After Kc, I and D obtained, calculate Kp, KI and KD using the
formulas:
Kp=Kc
KI=Kc/I
KD=Kc*D

 Once Kp ,KI andKD obtained, insert the values for set point
changes and disturbances available from Excel
Spreadsheet.
Graph of RV is plotted and the IAE for every controller of
different methods are noted.
The IAE are being compared for optimum process. Least
error, fastest settling time and least overshoot.
All the results are tabulated and analysed.

Quarter Decay Ratio Response

P controller
Set point change

Disturbance

PI controller
Setpoint change

Disturbance

PID controller
Set point change

Disturbance

Minimum Error Integral Tuning IAE

PI controller
Set point change

Disturbance

PID controller
Set point change

Disturbance

Minimum Error Integral Tuning ITAE

Formulas for Set Point Changes

PI Controller
Setpoint change

Disturbance

PID Controller
Setpoint change

Disturbance

Dahlin Synthesis

PID controller
Set point change

Disturbance

Tuning Formulas for Cohen Coon

Controller Settings

P Controller
Setpoint change

Disturbance

PI Controller
Setpoint change

Disturbance

PID Controller
Setpoint change

Disturbance

DISCUSSION PART I

Determine the best controller for each method

 Quarter Decay Ratio Response

Set Point Change
Aspect
P
IAE Value
3065.8
Settling
time
Oscillation
No

PID controller is chosen

PI
1580.6
Slow

PID
829.2
Fast

No

No

 Minimum Error Integral Tuning IAE

Set Point Change

Aspect
IAE Value
Settling Time
Oscillation

PI
679.3
90s
No

Disturbance Change
Slower response in PI controller
PI controller is chosen

PID
493.0
90s
Yes

 Minimum Error Tuning ITAE

Set Point Change
Aspect
IAE Value
Settling Time

PI
542.0
77s

Disturbance Change
Similar response as Set Point Change
PID controller is chosen

PID
433.0
60s

 Dahlin Synthesis
Aspect
IAE Value
Oscillation

PID
1019.5
Yes

 Cohen Coon
Set Point Change
Aspect
P
IAE Value
2465.5
Back to Set
No
Point
Settling
Time

PI
530.6
Yes

PID
401.4
Yes

70s

75s

Disturbance Change
Oscillation occurs for PID controller

DISCUSSION - PART II
Determine the best tuning for each P, PI
and PID controller from five methods

Table 7.2: Highest Integral of absolute error

(IAE)
Controller Type

Process

Proportional only, P
Proportional integral, PI
Proportional integral
derivative, PID
P Controller
1. Quarter Decay
Ratio Response
2. Cohen Coon

1.
2.
3.
4.

Value

Tuning formulas for Quarter Decay

Ratio Response
Tuning formulas for Quarter Decay
Ratio Response
Tuning formulas for Dahlin Synthesis

PI Controller
Quarter Decay Ratio
Response
Minimum Error Integral
Tuning IAE
Minimum Error Tuning
ITAE
Cohen Coon

1.
2.
3.
4.

3065.8
1580.6
1019.5

PID Controller
Quarter Decay Ratio
Response
Minimum Error Integral
Tuning IAE
Minimum Error Tuning
ITAE
Dahlin Synthesis

Table 7.1: Lowest Integral of absolute error

(IAE)
Controller Type
Proportional only, P
Proportional integral, PI
Proportional integral
derivative, PID

P Controller
Cohen Coon

Process

Value

Tuning Formulas for Cohen Coon

controller settings
Tuning Formulas for Cohen Coon
controller settings
Tuning Formulas for Cohen Coon
controller settings

PI Controller
Cohen Coon

2465.5
530.6
401.4

PID
Controller
Cohen Coon

CONCLUSION
Based on analysis of results and discussions done, PID is
the most preferred controller compared to P and PI
controllers.
Among the five processes, Cohen Coon controller is the
BEST METHOD, as it
producing less IAE in eliminating error
Has fastest settling time
Has less overshoot

Cohen Coon method with PID controller is the most

suitable and

REFERENCES
Mohd, F.M.N. (2006, Noember). Comparison between Ziegler-Nichols and
Cohen-Coon Method for Controller Tunings. Retrieved March 18, 2015
from http://umpir.ump.edu.my/540/1/Mohd_Fadzli_Mohd_Noris.pdf
Most common approach to PID controller. Retrieved March 18, 2015 from
http://saba.kntu.ac.ir/eecd/ecourses/Indust%2084/Selected%20Project
s/Sadeghi%20&%20Gholami/information/orange-3/3-2.htm

Neil.K.(2002, December 19). PID Tuning Methods: An Automatic PID

Tuning Study with MathCad. Retrieved March 18, 2015 from
https://www.calvin.edu/~pribeiro/courses/engr315/samples/PID%20Tu
ning%20Methods-Automation%20Study%20with%20MathCad-a.pdf

Tham, M. (2009). Design of Simple Digital Controllers. Retrieved March

18, 2015 from http://lorien.ncl.ac.uk/ming/digicont/control/digital4.htm