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Study on PID Controller Design and Performance Based on Tuning Techniques

Conference Paper · July 2014

DOI: 10.1109/ICCICCT.2014.6993183

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 2014 International Conference on Control, Instrumentation, Communication and Computational Technologies (ICCICCT)

Study on PID Controller Design and Performance

Based on Tuning Techniques
P.V. Gopi Krishna Rao M. V. Subramanyam K. Satyaprasad
Research Schloar Santhiram Engineering College JNTUK College of Engineering
JNTUK, Kakinada, India Nandyal, A.P, India Kakinada, A. P, India
[email protected]

Abstract— The simplicity, ease of implementation and

robustness has attracted the use of Proportional, Integral and  GPID (s)  GC (s)  K P 1  1 Td s  
 Ti s 
Derivative (PID) controllers in the chemical process industries.
Numerous tuning techniques are available for tuning of PID
controllers, each one of it has its pros and cons. Majority of the Where GC (s) is the controller transfer function, K P -
tuning techniques are proposed for First Order S ystem with Proportional gain, Ti - Integral time and Td - Derivative time.
Time Delay (FOPDT). This paper presents the technique for
obtaining the FOPDT model using S undaresan and This paper focuses on
Krishnaswamy method and performance comparison of PID
controller based on open loop, closed loop tuning techniques and  Identifying the First Order Plus Time Delay
PID controller tuned with Internal Model Control (IMC) (FOPDT) process models from step response
technique for setpoint tracking and disturbance rejection. data.
Analysis is carried out in terms of Integral error criteria’s,
Integral Absolute Error (IAE) and Integral S quared Error (IS E)  Design of PID controller from the identified
and time response information viz. rise time, settling time, % model using open loop, closed loop tuning
peak overshoot and maximum sensitivity. S uperheated steam techniques and IMC tuned PID.
temperature system of 500 MW boiler and Mean arterial blood
 Performance evaluation of the designed PID
pressure system are considered for the simulation study. The
results indicate that the ratio of time delay and time constant controller through simulation for setpoint tracking
have influence on the performance of the tuning techniques. IMC
and disturbance rejection.
– PID provides the flexibility of adjustment for desired The paper is organised as, Section II describes the system
performance in comparison to other tuning techniques. identification procedure from step response data, Section III
discusses open loop and closed loop tuning techniques of PID
Keywords— PID; Tuning methods; setpoint tracking; controller, Section IV describes the application of Internal
disturbance rejection; IMC;Open loop; Closed loop;
Model Control (IMC) for tuning PID controller, Section V
describes the performance and robustness evaluation criteria‘s,
I. INT RODUCT ION Section VI demonstrates the simulation results for evaluation
The most popular controller used in the process industries of the controller performance for servo operation (setpoint
for closed loop control is Proportional Integral Derivative tracking) and regulator operation (disturbance rejection), and
(PID) controller, as it can assure satisfactory performances the paper ends with the conclusions. No claim of finding new
with simple algorithm for a wide range of processes. It is techniques/methods is made in the paper, except for
important to note that cost benefit ratio obtained through the performance comparison and conclusion drawn from the
PID controller is difficult to achieve by other controllers [1-4]. comparison.
It is found that 97% of the regulatory controllers in industry
use PID algorithm [5]. The PID controller is popularly known II. SYST EM IDENT IFICAT ION FROM ST EP RESPONSE DAT A
as three term controller- the Proportional (P), Integral (I) and The vast tuning algorithms for PID controller are based on
Derivative (D). The desired closed-loop system performance the FOPDT, which has the general form represented by (2).
can be achieved with an appropriate adjustment of controller
The process can be approximated to FOPDT by applying unit
settings. This procedure is known as controller tuning. step input and using Sundaresan and Krishnaswamy method
Hundreds of tools, methods and theories are available for [7, 8, 9].
tuning the PID controller [4, 6]. However, finding optimal
parameters for the PID controller is still a tricky task, in  s
practice still the trial and error method is used for tuning  GM ( s )  Ke 
process by the control engineers [6]. The controller can  s 1
provide optimized control action, and minimized error Sundaresan and Krishnaswamy have proposed a simple and
performance with optimum tuning of the three parameters in easy method for fitting the dynamic response of systems in
the PID controller algorithm. The mathematical form of PID terms of FOPDT transfer functions [7]. The modelling
algorithm is represented in (1). parameters, time delay (  ), time constant (  ) and gain ( K )

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 2014 International Conference on Control, Instrumentation, Communication and Computational Technologies (ICCICCT)

are obtained for (2) by computing the time instances t1 and t2 manufacturers and process industry [8]. The PID controller
at which the response reaches 35.3% and 85.3% of the final parameters are computed from the FOPTD parameters, the
value, represented in Fig. 1 and (3), (4), (5) [9]. gain (K), time constant (  ) and time delay (  ). The PID
controller parameters as a function of the FOPDT model of (2)
are given in Table I.
2) Cohen-Coon (C-C OL) Open Loop Technique
Cohen – Coon in 1953 developed a tuning method based
on the FOPDT process model [12, 14]. A set of tuning
parameters were developed empirically to obtain one quarter
decay ratio to yield closed loop response similar to Z-N OL
method. The controller parameters as a function of FOPDT
model of (2) are represented in Table I.
3) Chien, Hrones, and Reswick (CHR) Technique
Chien, Hrones and Reswick (CHR) method is the modified
version of the Z-N OL method [12, 15]. This method was
developed in 1952 by Chien, Hrones and Reswick, this
provides a better way of selection of a compensator
Fig. 1. Step input response of open loop process
for process control applications. They also made an important
observation that tuning for setpoint response or load response
   1.3t1  0.29t2  is different [8]. The controller parameters from CHR set point
response method are summarized in Table I.
   0.67(t1  t 2 ) 
TABLE I. OP EN LOOP PID CONTROLLER TUNING TECHNIQUE
output _ at _ steady _ state
 K   FORMULAS
input _ at _ steady _ state
Tuning
 Method
KP Ti Td

Ziegler- 1.2
III. TUNING OF PID CONT ROLLER 2.2 0.5
Nichols K
 32  6    
A. Open loop tuning techniques Cohen-  4     4
     
These are experimental methods on the open-loop systems Coon K  3 4   13  8    9  2 
     
(i.e. on the process itself, independent of the controller, which
0.6
may be present or not). The plant/process response is obtained CHR  0.5
K
with the disconnection of the feedback controller and
application of step change in the input. The information from
the step response is derived as discussed in section II. The
plant is no longer under control, as the controller is B. Closed Loop PID Tuning Techniques
disconnected from the plant. If the control loop is critical, Closed loop tuning techniques are dependent on frequency
these techniques can be hazardous. Open loop tuning response of the process/plant. The two parameters ultimate
techniques are suitable only for self regulating period ( Pu ) and ultimate gain ( K u ) have to be obtained from
plants/processes. With Open loop type experiments it is the closed loop system response. The K u and Pu are obtained
possible to get informative results quickly.
from the closed loop system with P-control alone and making
Wide varieties of tuning rules are available based on the the integral and derivative times zero. The gain of the P-
open loop response of the plant or process which is usually control is increased until sustained oscillations with constant
sigmodal (S shape) in nature. They follow the same principle, amplitude and frequency as in Fig. 2 are obtained. The Pu
but they vary in the way they relate the tuning parameters to value is obtained by measuring the time between any two
the model parameters. The three basic methods of op en loop
consecutive peaks, and K u is the value of gain that caused
tuning techniques are the classical Ziegler – Nicholas (Z-N
OL), Cohen – Coon (C-C) and Chien Hrones Nicholas (CHR) sustained oscillations.
methods. 1) Ziegler-Nichols (Z-N CL) Closed Loop Technique
1) Ziegler-Nichols (Z-N OL) Open Loop Tuning Technique The Ziegler-Nichols [10, 12] continuous cycling method or
The Ziegler–Nichols rules for tuning PID controller have ultimate gain method is one of the best known closed loop
been very influential [10, 11, 12]. Z-N Proposed a tuning tuning strategies and was developed in 1942. This tuning
method in 1942 called the Ziegler-Nichols open loop tuning method often forms the basis for tuning procedures used by
method; it is one of the most popular and most widely used controller manufacturers and process industry [8] and the PID
classical tuning methods [13] it is also referred as process tuning values were developed as function of ultimate (critical)
reaction curve method (PRC). This tuning method often forms gain and ultimate (critical) period. The tuning parameters
the starting point for tuning procedures used by controller based on Z-N CL are represented in Table II.

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 2014 International Conference on Control, Instrumentation, Communication and Computational Technologies (ICCICCT)

 Q(s)  GM
1
 ( s) G f ( s) 

1
 G f ( s )  
1 s

The IMC controller can be converted to the form of ideal

feedback controller, which is expressed mathematically in
terms of Q(s) and GM (s) as (9)

Q( s)
 GC ( s )  
1  Q ( s )GM ( s )

Fig. 2. Closed response with P -Control to find Ku and Pu

Using all pass factorization and first order Padé
approximation of delay term and comparing of (9) with (1)
results in (10).
2) Modified Ziegler-Nichols(M Z-N) Technique
For reduction of overshoot in the response Ziegler-
Nicholas suggested modifications to their basic PID closed 2    
 K P  , Ti    , Td  
loop tuning approach, this is known as modified approach of K (2   ) 2 2  
Z-N CL method. The formulas for M Z-N tuning method [12,
The desired performance with IMC – PID can be achieved
16] are given in Table II.
with only one tuning parameter  which is related to the time
3) Tyreus - Luyben (T-L)Technique constant of the process/ plant.
The Tyreus and Luyben's tuning method was introduced in
1997 [12, 17] and is based on ultimate gain and ultimate V. PERFORMANCE ASSESSMENT
period as in the Z-N CL method, but with modifications in the
formulas for the controller parameters to obtain better stability It is well known that a well designed control system should
in the control loop compared with the Z-N CL method. The meet the following requirements besides nominal stability, it
formulas suggested for PID controller are listed in Table II. should possess disturbance rejection, set point tracking and,
robust stability and/or robust performance [25, 26]. The first
two requirements are traditionally referred to as ‗Performance‘
TABLE II. CLOSED LOOP PID CONTROLLER TUNING TECHNIQUE and the third, ‗Robustness‘ of a control system [27, 28].
FORMULAS

A. Performance
Tuning Me thod KP Ti Td

Pu Pu
The integral error is a good measure for evaluating the set
Zie gler-Nicholas 0.6 Ku point and disturbance response [25, 26, 29]. The following are
2 8
Pu Pu some generally used criteria based on the integral error for a
Modifie d Z-N 0.33Ku
2 3 set point or disturbance response [25, 26, 29].
Tyre us-Luyben 0.45 Ku 2.2 Pu Pu
6.3 
 IAE   e(t ) dt 
0
IV. PID T UNING WIT H INT ERNAL M ODEL CONT ROL

Internal Model Control (IMC) was introduced by Garcia  ISE   e(t )2 dt 
and Morari [18, 19, 20]. The process model is explicitly an 0
integral part of the controller in IMC characterization. The
design process of IMC involves factorizing the predictive 
 ITAE   t e(t ) dt 
plant model GM (s) as invertible GM  (s) and non-invertible 0
GM  (s) parts depicted in (6) by simple factorization or all pass IAE penalizes small errors, ISE large errors and ITAE the
factorization [7, 18, 20, 21, 22]. The Internal model controller errors that persist for a long time.
in (7) is the inverse of the invertible GM  (s) portion of the
plant model GM (s) [23, 24], to realize the controller a low pass B. Robustness Analysis
IMC filter G f ( s) (8) is inserted in (7). Robustness is the ability of the closed loop system to be
insensitive to component variations [26, 30]. It is one of the
 GM (s)  GM  (s)GM  (s)  most useful properties of feedback. Robustness is also what
makes it possible to design feedback system based on strongly
simplified models. It necessary to have quantitative ways to
The IMC controller is
express how well a feedback system performs. Measures of

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 2014 International Conference on Control, Instrumentation, Communication and Computational Technologies (ICCICCT)

performance and robustness are closely related [27]. In closed time constant of the system response also change significantly
loop system, the robustness performance is computed by the with the MW load on the steam turbine due to changes in
sensitivity function(S) which relates to disturbance rejection steam flow rates [34]. The transfer function of SHS
properties while the complementary sensitivity function (T) temperature system is fifth order model [7, 35] represented by
provides a measure of set point tracking performances [19, (16), the gain, time delay and time constant are obtained from
27]. Sundaresan and Krishnaswamy method, described in section II
above. FOPDT of SHS temperature system is represented by
1 (17).
 S 
1  GC GP
0.7732
 G( s)  
GC GP 19s  15
 T 
1  GC GP
0.7717e 56.278 s
and T ( j ) are the amplitude ratios of S and T
S ( j )  GM ( s )  
42.934 s  1
respectively [26]. The maximum values of amplitude ratios 
provide useful measure of robustness and also serve as control
system design criteria. The maximum sensitivity The performance of the PID controller for SHS sys tem
M S max S ( j ) is the inverse of the shortest distance from based open loop and closed loop tuning techniques and IMC
 tuning are depicted in Table III, Fig. 3 and Table IV, Fig. 4
Nyquist plot to the critical point [27]. As M S decreases the respectively.
robustness of closed loop system increases [31, 32]. The Example 2:
second robustness measure is M T max T ( j ) , referred as
 The patient blood pressure model used here was developed
resonant peak. For a satisfactory control system M S should be by Martin, et al. [36, 37]. The transfer function of MABP
in the range of 1.2 – 2.0 and M T should be in the range of 1.0 system is third order model represented by (18), the gain, time
delay and time constant are obtained from Sundaresan and
– 1.5 [27, 33].
Krishnaswamy method, described in section II above. FOPDT
of MABP system is represented by (19).
VI. SIMULAT ION RESULT S
Simulation results are presented to illustrate the
 G( s) 
150s  5 e60s 
performance of PID controller tuned with open loop tuning
techniques viz. Ziegler – Nicholas, Cohen – Coon and CHR 30000s3  4600s 2  130s  1
and, closed loop tuning techniques viz. Ziegler – Nicholas, 
Modified Ziegler – Nicholas and Tyreus – Luyben and IMC
based PID tuning. Super Heated Steam (SHS) temperature 5e78.6 s
control system of 500 MW boiler and Mean Arterial Blood  GM ( s )  
84.4s  1
Pressure (MABP) are considered for evaluation and
comparison of tuning techniques. The simulations were The performance of the PID controller for MABP system
performed in LabVIEW and MATLAB/Simulink environment based open loop and closed loop tuning techniques and IMC
for step input changes in set point and in the disturbance. The tuning are depicted in Table V, Fig. 5 and Table VI, Fig. 6
controller performance is measured with calculation of IAE, respectively.
ISE values and determining the rise time ( t r ) settling time
( t s ), % peak overshoot ( M P ) and maximum sensitivity ( M S ). VII. CONCLUSION
It is observed that IMC-PID provides better setpoint
Example 1: tracking but sluggish disturbance rejection, where as Z-N, C-C
Superheated steam temperature system of 500 MW boiler provide better disturbance rejection for both the examples
is considered for analysis. Superheated steam temperature is considered. IMC-PID has essentially only one tuning
one of the important variables in the boilers to be controlled parameter to achieve the desired performance and it provides a
precisely for efficiency and safety[15, 34], Steam temperature trade off between performance and robustness in comparison
must be stable to achieve peak turbine efficiency and reduce with other tuning techniques considered, which is evident
fatigue in the turbine blades [15, 34]. The control of steam from IAE and ISE values and time response specifications in
temperature is difficult, as there is a time delay between the Tables III, IV, V and VI. The dominance in the performance
control action in the form of additions of spray water and of IMC-PID is observed for process with   < 1, It is
when steam temperature is measured. The gain, delay, and suggested to use IMC-PID for such processes.

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 2014 International Conference on Control, Instrumentation, Communication and Computational Technologies (ICCICCT)

TABLE III. P ERFORMANCE OF THE PID BASED ON OP EN LOOP TUNING TECHNIQUES FOR SHS SYSTEM

Setpoint Disturbance
Tuning
Kp Ti Td Ms Rise Settling %
Te chnique IAE ISE Peak IAE ISE
time time MP
Z-N 1.1863 112.556 28.139 2.58 210 510 0 122.8 74.63 0.399 94.61 23.54
C-C 1.6417 95.524 19.370 3.16 60.8 266 6.9 80.84 60.21 0.426 58.18 13.97
CHR 0.5932 42.934 21.467 1.4 105.3 395 9.3 120.9 84.97 0.513 82.53 29.14
IMC-PID 1.095 71.073 16.998 1.77 80 239 4 88.68 68.97 0.457 64.91 19.95

Fig. 3. Setpoint and Disturbance response of SHS for open loop tuning techniques

TABLE IV. P ERFORMANCE OF THE PID BASED ON CLOSED LOOP TUNING TECHNIQUES FOR SHS SYSTEM

Setpoint Disturbance
Tuning
Kp Ti Td Ms Rise Settling %
Te chnique IAE ISE Peak IAE ISE
time time MP
Z-N 1.4803 83.25 20.8125 2.68 65.23 185 7 80.53 62.01 0.408 56.24 14.63
M Z-N 0.8142 83.25 55.50 5.31 207 354 0.6 135.8 89.92 0.427 102.7 29.24
T-L 1.1215 366.3 26.4286 2.42 >1000 >1000 NA 325 144.9 0.448 236.8 66.16
1.2096 71.073 16.9983
IMC-PID 1.93 71 222 8.2 87.14 66.3 0.443 58.76 17.72

Fig. 4. Setpoint and Disturbance response of SHS for closed loop tuning techniques

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 2014 International Conference on Control, Instrumentation, Communication and Computational Technologies (ICCICCT)

TABLE V. P ERFORMANCE OF THE PID BASED ON OP EN LOOP TUNING TECHNIQUES FOR MABP SYSTEM

Setpoint Disturbance
Tuning
Kp Ti Td Ms Rise Settling %
Te chnique IAE ISE Peak IAE ISE
time time MP
Z-N 0.2577 157.2 39.3 2.8 92.22 302 0.9 124.7 97.94 2.52 609.5 903.3
C-C 0.3363 144.47 28.944 3.51 55.23 416 21.8 121.7 92.2 2.49 429.5 631.7
CHR 0.1289 84.4 42.2 1.48 154.5 643 9.5 178.5 123.2 2.87 734.6 1467
IMC- PID 0.2372 123.7 26.814 1.96 80.65 367 7.2 126 99.06 2.67 521.5 913

Fig. 5. Setpoint and Disturbance response of MABP for open loop tuning techniques

TABLE VI. P ERFORMANCE OF THE PID BASED ON CLOSED LOOP TUNING TECHNIQUES FOR MABP SYSTEM

Setpoint Disturbance
Tuning
Kp Ti Td Ms Rise Settling %
Te chnique IAE ISE Peak IAE ISE
time time MP
Z-N 0.3417 118.864 29.7159 2.34 52 425 31.5 130.2 94.87 2.484 348.8 566.1
MZ-N 0.1879 118.864 79.2423 2.72 185 775 8.5 174.5 114.1 2.41 681.7 1066
T-L 0.2589 522.999 37.7344 2.06 1120 >1200 NA 322.5 145.9 2.537 1485 2235
IMC-PID 0.2395 123.7 26.8142 1.98 80.5 373 7.7 125.9 98.91 2.674 516.5 903.1

Fig. 6. Setpoint and Disturbance response of MABP for closed loop tuning techniques

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 2014 International Conference on Control, Instrumentation, Communication and Computational Technologies (ICCICCT)

[23] J. Arputha Vijaya Selvi, T .K. Radhakrishnan, and S. Sundaram, ― Model

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