Setting rules for the P, PI and PID controllers

This page summarizes some of the setting rules found in the relevant literature. The setting rule to be used for a particular case has to be determined depending on the controlled system.

Ziegler and Nichols

The Ziegler and Nichols setting rules can be used if the controlled system can be approximated by a dead time element and 1st order delay element.

Setting rules for the P, PI and PID controllers 1:

Setting rules for the P, PI and PID controllers 2:

T_t = dead time of the controlled system

K_s = gain factor of the controlled system

T_s = time constant of the controlled system

Setting rules for the P, PI and PID controllers 3:

Chien, Hrones and Reswick

If this procedure is to be used, the step response of the system must show delay characteristics and be free from overshoot effects.

From the step response the delay time T_U, the compensation time T_g and the system amplification K_s are determined.

The system amplification is calculated from the following quotient:

Setting rules for the P, PI and PID controllers 4:

Setting rules for the P, PI and PID controllers 5:

Optimization of the interference behavior:

Setting rules for the P, PI and PID controllers 6:

Optimization of the control behavior

Setting rules for the P, PI and PID controllers 7: