Lecture 09 – Ziegler-Nichols Tuning
9) Ziegler-Nichols Tuning of the PID Controller
We need a systematic way to select the three gains in a PID controller givent the plant
and performance specifications.
So far the only systematic method we have seen was application of Routh’s Stability
criterion to ensure stability.
The Ziegler-Nichols methods of selecting the three gains is based on the generic process
reaction curve:
o Typical shape is as follows:
o In practice, generated from experimental step response data.
o Corresponds to step response.
o There are two different methods of selecting gains.
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Dr. İsmail Bayezit
Ziegler-Nichols Method 1 – Quarter Decay Ratio Method:
Selection made aiming a closed-loop step response transient with a decay ratio of ~0.25:
The transient decays to a quarter of its value after one period of oscillation.
A quarter decay corresponds to and, while low for many applications, was
seen as a reasonable comprise between quick response and adequate stability margins
for the process controls being considered.
The regulator parameters for the controller terms in
( ) ( ):
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Dr. İsmail Bayezit
Ziegler-Nichols Method 2 – Ultimate Sensitivity Method:
Selection made based on evaluating the amplitude and frequency of the oscillations of
the system at the limit of stability rather than on taking a step response.
To use the method, the proportional gain is increased until the system becomes
marginally stable and continues oscillations just begin with amplitude limited by the
saturation of the actuator.
The corresponding gain is defined as (called the ultimate gain) and the period of
oscillation is recorded as (called the ultimate period).
Tuning parameters are selected according to the following table:
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Notes:
Experience has shown that the controller settings according to Ziegler-Nichols rules
provide acceptable closed-loop response for many systems.
Nevertheless, a final tuning of the controller iteratively on the actual process is needed
to yield satisfactory control.
Example 4.9: Consider a heat exchanger system, whose reaction process curve (step response)
is shown below.
Determine the proportional and PI regulator gains for the system using Ziegler-Nichols rules to
achieve a quarter decay ratio. Plot the corresponding step responses.
Solution:
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Example 4.10: Proportional control was applied to the heat exchanger system in the previous
example until the system showed nondecaying oscillations in response to an impulse (short
pulse in practice) input, as shown below.
The ultimate gain is measured to be and the period is measured at sec.
Determine the proportional and PI regulators according to the Ziegler-Nichols rules based on
the ultimate sensitivity method. Plot the corresponding step responses.
Solution:
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Exercise 1: See various MATLAB tools for PID control design, first typing
>> help control
and then calling help for PID related commands. Some of them are the following:
pidtool, pid, pidstd, pidtune
Exercise 2: Type
>>heatex
to see an interactive heat exchange control system demo.
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Dr. İsmail Bayezit
