Essuman J.B: ‘Quick Reference: PI and PID tuning according to Ziegler and Nichols.’

PID PARAMETERS TUNING ACCORDING TO

ZIEGLER AND NICHOLS

Kp , Ki and Kd

DEFINITIONS

PID Gains

Kp : Proportional Gain

Ki : Integral Gain

Kd : Derivative Gain

Ziegler-Nichols Open Loop/Reaction Curve Method –

Settings

First Order Plus Dead Time Model (FOPDT)

L: delay or dead time ; T: time constant

Controller

Type Kp Ki Kd

PI 0.9T/L

0.27T/L

2 0

PID 1.2T/L 0.6T/L2 0.6T

Essuman J.B: ‘Quick Reference: PI and PID tuning according to Ziegler and Nichols.’

Ziegler-Nichols Closed Loop/Ultimate Gain Method –

Settings.

Sustained Oscillation

Ku: ultimate proportional gain

Pu : ultimate period

Controller

Type Kp Ki Kd

PI 0.45Ku

0.54Ku/Pu 0

PID 0.6Ku 1.2Ku/Pu 0.075KuPu