SRI RAMAKRISHNA ENGINEERING COLLEGE

[Educational Service : SNR Sons Charitable Trust]

[Autonomous Institution, Accredited by NAAC with ‘A’ Grade]
Overview of the presentation
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VATTAMALAIPALAYAM, N.G.G.O. COLONY POST, COIMBATORE – 641 022.
Ziegler-Nichols method
Modified Ziegler-Nichols method
Tyreus-Luyben method
PEER ENABLE PROGRAM Damped oscillation method
ON
C-H-R method
Different Controller Tuning Methods in Process Plant
Cohen and Coon method
Fertik method
Presented by,
M.Nagarajapandian, Ciancone-Marline method
Assistant Professor/EIE,
Sri Ramakrishna Engineering College
IMC method
Minimum error criteria (IAE, ISE, ITAE) method
Lambda Tuning
Auto Tuning
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Controller Tuning when it’s tuned?

 The process of experimentation for obtaining The process didn’t blow up.
the optimum values of the controller parameters  The process measurements stay close enough
with respect to a particular process is known as to the setpoint.
controller tuning.
 A systematic-adjusting procedure of the
It provides sensing, analysis, and control of the
controller parameters to obtain a desired physical process.
performance of the control system. When a control system is at properly tuned, the
 Controller tuning refers to the selection of tuning process variability is reduced, efficiency is
parameters to ensure the best response of the maximized, energy costs are minimized, and
controller. production rates can be increased.
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1
 Ziegler-Nichols method Contd….
This method is a trial and error tuning method
based on sustained oscillations that was first
proposed by Ziegler and Nichols.
This method that is probably the most known
and the most widely used method for tuning of
PID controllers.
The advantage of Z-N method is that it does
not require the process model.

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Modified Ziegler-Nichols method
For control loops the measure of oscillation,
provide by ¼ decay ratio.
The corresponding large overshoots for set point
changes are undesirable therefore more conservative
methods are often preferable such as modified Z-N
settings.
Tyreus-Luyben method
• The Tyreus-Luyben procedure is similar to the
Ziegler–Nichols method but the final
controller settings are different.
• This method only proposes settings for PI and
PID controllers.
• These settings that are based on ultimate gain.

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2
 Damped Oscillation Method
This method is used for solving problem
of marginal stability.
The process is characterized by finding
the gain at which the process has a
damping ratio of ¼.
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C-H-R Method
This method that has proposed by
Chien,Hrones and Reswich .
This is a modification of open loop Ziegler and
Nichols method.
They proposed to use “quickest response
without overshoot” with 20% overshoot” as
design criterion.
They also made the important observation that
tuning for set point responses and load
disturbance responses are different.
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Cohen and Coon method Fertik method

In this method the process reaction curve
is obtained first, by an open loop test. This method uses a first order plus dead time
model for the process:
Then the process dynamics is approximated by
a first order plus dead time model. ke  ds
Gm ( s) 
s  1

then the Fertik controllability αF, must be

calculated as:

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3
 Ciancone and Marline Method
This method that enable, engineer to obtain
controller parameters by using some graphs to
satisfy the control objective.
Minimizing IAE considering
 ±25 % change in the process model
parameters.
Limits on the variation of the manipulated
variable.
Internal Model Control
The IMC approach has two important
advantages:
 It explicitly takes into account model
uncertainty
 It allows the designer to trade-off control
system performance against control system
robustness to process changes and modeling
errors.

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Minimum error criteria Contd…

The approach is to develop controller design
• Integral of the time weighted absolute value of
relation based on a performance index that
the error (ITAE)
considers the entire closed loop response.
Integral of the absolute value of the
• Integral of the time weighted square of the
Error,
error (ITSE)
 Integral of the square value of the error(ISE)

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4
 Lambda Tuning Auto Tuning
Developed for achieving smooth set point  Autotuning (also known as self-tuning) is a feature
response or load change. supplied by many controller, PLC and DCS vendors
that allows the controller to “tune itself”.
 Guarantees stability, robustness and no
 It minimize the task of a control engineer in manually
overshoot. tuning the loops.
 Very popular in pulp & paper industry.  A variety of auto tuning techniques found on the
Two basic steps of lambda tuning: market:
 Scheduled tuning
 Process model identification
 On –demand tuning
 Lambda tuning
 On –line tuning
1st order process with dead time
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Scheduled Tuning On-line Tuning

The users have to provide the correct value
either by means of a table look-up or a user-
written program.
 Tuning parameters are changed automatically
as operating points change.
 No assessing and modifying of the controller
performances by determining improved tuning
parameters.
The tuning parameters are determined by an
auxiliary program that automatically evaluates the
closed-loop behavior and calculates and modifies
the tuning parameters whenever necessary
 Methods:
 Pattern recognition
 Others use a more formal mathematical
procedure

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5
 Summary of comparison of
PID controller tuning methods

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