CHE 3002 PROCESS INSTRUMENTATION AND CONTROL

EXP No.:
Date:
PID controller tuning using Ziegler-Nichols technique.
AIM:
Consider the following third order process (Cascade of three reactors)

Tune a PID controller using Ziegler-Nichols tuning rules. It is based on the similar idea as the ZN
method described in the lecture, with the difference that the ultimate gain and ultimate period are
determined experimentally, not analytically.

PROCEDURE:
Ziegler-Nichols Tuning General Approach:
Step1. Develop a SIMULINK block diagram and save in the current MATLAB folder.
Step2. Set the controller to a P-only controller.
Step3. Start to give values to Kc or Kp until the closed loop system is at the verge of instability
(sustained oscillations are obtained i.e., in fig 1).

Fig.1 Sustained Oscillations Fig.2. Sustained oscillations

showing the measure of Pu.
CHE 3002 PROCESS INSTRUMENTATION AND CONTROL

Step 4. At a particular value of Kp, the system will exhibit sustained oscillation. This value of Kp
will now act as ultimate gain (Ku).
Step 5.Determine from the figure the ultimate period (Pu)[as such in fig.2]. Use the zoom buttons
in the figure window and obtain the ultimate period (the time interval for one entire oscillation).
Step 6. With the ultimate gain (Ku) and ultimate period (Pu) determined at steps 4 and 5 compute
the parameters of a PID controller using the ZN tuning rules stated in Table-1
Step 7. Introduce individually the P, PI, PID parameters in the SIMULINK PID controller and
perform a simulation to test the closed loop performance.

Ziegler-Nichols Tuning Practical Approach:

Consider the given plant transfer function as Gp(S) and controller Transfer function Gc(S)
with gain Kc or Kp. Therefore, the characteristics equation for the system with controller and
process only is given by

--------------------------------[1]
Step 1.To find the value of ultimate gain (Ku) the closed loop system is at the verge of instability,
equ. 1 can be written as

Step 2. Substitute S=j in to the characteristic equation, we have

Step 3.Rearrange in the Cartesian form: Re+ Im j and consider it as equ.(2)

Step 4.This equ.2 can be satisfied if and only if both the real and imaginary parts
are equal to zero. Solve the equations to get a value for Kc and .
Hence, the ultimate gain is Ku = Kc =
Step 5.And the frequency of sustained oscillations at that point is :

The ultimate period Pu is given by

CHE 3002 PROCESS INSTRUMENTATION AND CONTROL

Step 6. Calculate the P, PI, PID controller settings using the Z-N Method as in following Table-1

Table -1 Zeigler Nichols Tuning Values

Type of Control Kc I D

Proportional (P) 0.5 Ku

Proportional-Integral (PI) 0.45 Ku Pu/1.2

Proportional-Integral-Derivative (PID) 0.6 Ku Pu/2 Pu/8

Step 7. Observe the closed loop performance for P, PI, PID controller using the obtained values by
substituting in the SIMULINK Model.(Note: Fix the Stop time as 200 sec) and record the necessary
informations in the format given in Table-2 & Table-3.

Table-2
Z-N General Approach Z-N Practical Approach

Control Kc I D Control Kc I D
P P

PI PI

PID PID
CHE 3002 PROCESS INSTRUMENTATION AND CONTROL

Table-3
Performance comparison:

Z-N General Approach Z-N Practical Approach

Controllers P PI PID P PI PID
Percent Overshoot
Settling Time

Rise Time

Peak Time

Result:

SIMULINK Diagram with Gain Alone

Sustained oscillation response with Pu marked

SIMULINK Diagram with controller

Proportional Response

Proportional-Integral Response

Proportional-Integral-Derivative Response

Inference: