“Relaxed Ziegler-Nichols Closed Loop Tuning of PI Controllers”

Authors: Finn Haugen and Bernt Lie,
Affiliation: Telemark University College
Reference: 2013, Vol 34, No 2, pp. 83-97.

Keywords: PI controller, tuning, open loop, closed loop, Ziegler-Nichols, Tyreus-Luyben, Skogestad, relay-tuning,performance, stability, robustness

Abstract: A modification of the PI setting of the Ziegler-Nichols closed loop tuningmethod is proposed. The modification is based on a combination of the Skogestad SIMCtuning formulas for ´´integrator plus time-delay´´ processes with the Ziegler-Nichols tuning formulas assuming that the process is modeled as an ´´integrator plus time-delay´´ process. The resulting PI settings provide improved stability margins compared with those obtained with the original Ziegler-Nichols PI settings. Compared with the well-known Tyreus-Luyben PI settings, the proposed PI settings give improved disturbance compensation. For processes with zero or a negligible time-delay, but with some lags in the form of time-constants, tuning based on ultimate gain and ultimate period may give poor results. Successful PI settings for such processes are proposed.

PDF PDF (810 Kb)        DOI: 10.4173/mic.2013.2.4

DOI forward links to this article:
[1] Finn Haugen, Rune Bakke and Bernt Lie (2013), doi:10.4173/mic.2013.3.4
[2] Finn Haugen, Rune Bakke and Bernt Lie (2013), doi:10.4173/mic.2013.3.1
[3] Finn Haugen, Rune Bakke and Bernt Lie (2014), doi:10.1155/2014/572621
[4] Nam Hoai Nguyen and Phuoc Doan Nguyen (2018), doi:10.1049/iet-cta.2018.5076
[5] Ryszard S. Romaniuk, Maciej Linczuk, Jakub Sobecki, Wojciech Walendziuk and Adam Idzkowski (2017), doi:10.1117/12.2280733
[6] Ilhan Kocaarslan, Sude Kart, Naci Genc and Hasan Uzmus (2019), doi:10.1007/s00202-019-00871-0
[7] Hongyu Jie, Hongbing Xu, Xiaoshuai Xin, Gang Zheng and Luole Guo (2020), doi:10.1109/ICET49382.2020.9119562
[8] Ratna Aisuwarya and Yona Vidiana (2020), doi:10.1109/MECnIT48290.2020.9166679
[9] Zalizawati Abdullah, Farah Saleena Taip, Siti Mazlina Mustapa Kamal and Ribhan Zafira Abdul Rahman (2020), doi:10.3390/foods9091177
[10] Urvashi Pande and Yogesh V. Hote (2020), doi:10.1109/ICSTCEE49637.2020.9276776
[11] Guo-qing Hu, Jian-wei Ma, Yi-ming Zuo, Yun-feng Wang, Hui-teng Yan and Qi Lv (2021), doi:10.1007/s40430-021-03233-9
[12] M. Ali Celik, Naci Genc and Hasan Uzmus (2022), doi:10.1007/s43236-022-00471-5
[13] Hasan Uzmus, Naci Genc and M. Ali Cel k (2022), doi:10.1080/15325008.2022.2159588
[14] Jinuk Kim, Sangsoo Park, Sangyong Kim, Junha Hwang and Jin-Su Gwon (2023), doi:10.23919/ICPE2023-ECCEAsia54778.2023.10213470
[15] Bustanul Arifin, Agus Adhi Nugroho, BhaktiYudo Suprapto, Sri Arttini Dwi Prasetyowati and Zainuddin Nawawi (2023), doi:10.1109/EECSI59885.2023.10295663
[1] Åstrøm, K.J. Hägglund, T. (1995). PID Controllers: Theory, Design and Tuning, ISA.
[2] Chien, I.L. Fruehauf, P.S. (1990). Consider IMC Tuning to Improve Controller Performance, Chem. Eng. Progress, Oct:33--41.
[3] DiRuscio, D. (2010). On Tuning PI Controllers for Integrating Plus Time Delay Systems, Modeling, Identification and Control, 3.4:145--164 doi:10.4173/mic.2010.4.3
[4] Haugen, F. (2012). The good gain method for simple experimental tuning of pi controllers, Modeling, Identification and Control, 3.4:141--152 doi:10.4173/mic.2012.4.3
[5] Haugen, F. (2013). Air heater, http://home.hit.no/finnh/air_heater.
[6] Haugen, F., Bakke, R., Lie, B. (2013). Temperature control of a pilot anaerobic digestion reactor, Submitted to Modeling, Identification and Control.
[7] Haugen, F. Lie, B. (2013). On-off and pid control of methane gas production of a pilot anaerobic digestion reactor, Submitted to Modeling, Identification and Control.
[8] Seborg, D.E., Edgar, T.F., Mellichamp, D.A. (2004). Process Dynamics and Control, John Wiley and Sons.
[9] Skogestad, S. (2004). Simple analytic rules for model reduction and pid controller tuning, Modeling, Identification and Control, 2.2:85--120 doi:10.4173/mic.2004.2.2
[10] Tyreus, B.D. Luyben, W.L. (1992). Tuning PI Controllers for Integrator/Dead Time Processes, Ind. Eng. Chem, 3.31.
[11] Yu, C.C. (1999). Autotuning of PID Controllers, Springer Verlag.
[12] Ziegler, J. Nichols, N. (1942). Optimum settings for automatic controllers, Trans. ASME, 6.3:759--768 doi:10.1115/1.2899060

  title={{Relaxed Ziegler-Nichols Closed Loop Tuning of PI Controllers}},
  author={Haugen, Finn and Lie, Bernt},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}