TUNING is adjusting of the

feedback controller parameters

to obtain a specified closed-
loop response.
Recall:
P controllers: Kc
PI controllers: Kc, I
PID controllers: Kc, I , D
 Cases:
Some process loops do have
relatively fast response.
Many processes take even
hours before results can be
observed.
It will take several minutes
even hours before response
resulting from the tuning can
be observed.
 This makes tuning feedback
controllers by trial and error:
A tedious and time-consuming
task (most method used by
control and instrument
engineers).
A number of procedure have
been developed however, no
one procedure will give the
best results for all process
control situations.
I. QUARTER DECAY RATIO
RESPONSE BY ULTIMATE
GAIN
Closed-loop or on-line tuning
method
Proposed by Ziegler and
Nichols
Ziegler-Nichols Method
 STEPS:
Determination of the dynamic
characteristics or personality of
the control loop.
Estimation of the controller
tuning parameters that produce
a desired response for the
dynamic characteristics
determined in the first step.
Matching the personality of
the controller to that of the
other elements in the loop.
The dynamic characteristics
of the process are
represented by the Ultimate
gain of a proportional
controller and the ultimate
period of the oscillation of
the loop.
 These can be determined from
the TF of all the components of
the loop.
Most often, they are
experimentally determined.
Experimentally:
Switch off the integral and
derivative modes of the
feedback controller so as to
have a proportional controller
only.
 Some controllers have I-mode
w/c cannot be switch off but it
can be detuned by setting the I
equal to the maximum value or
integral rate = minimum value.
With the controller in the
automatic mode (i.e. closed
loop), increase the proportional
gain (or reduce the proportional
band) until the loop oscillates
 constant amplitude. The value
of the gain that produces
sustained oscillations is
recorded as Ku , the ultimate
gain.
This step is carried out in
discrete gain increments
bumping the system by
applying a small change in SP at
each gain setting.
 To prevent the loop from going
unstable, smaller increments in
gain are made as the ultimate
gain is approached.
From the time recording of
the controlled variable, the
period of oscillations is
measured and recorded as
Pu, the ultimate period.
 For the Quarter decay method:
The desired closed-loop
response;
decay ratio = = B/A ;
B =A
P-Controller: Kc = Ku/2
PI- controller:
Kc = Ku/2.2 ; I = Pu/1.2
PID- controller:
Kc = Ku/1.7 ; I = Pu/2 ;
Example:
Given the characteristics
equation of the continuous
stirred tank, determine the
quarter decay ratio tuning
parameters for the PID
controller by the Ultimate gain
method. Also, determine the
roots of the characteristics
equation for the controller
tuned with these parameters
Given:
C(s) = G1GC . R(s) +
G2 . F(s)
1 + G1GC 1+
G1GC
G1 = 1.954
.
(0.2s+1)(8.34s+1)(0.502s+1)
(0.75s+1)
Reqd:
Soln:
Determine Ku and Pu
Set the controller to P-controller
The c.e. is: 1 + G1GC = 0
With P-controller, GC = Kc
(0.2s+1)(8.34s+1)(0.502s+1)
(0.75s+1) + 1.954 Kc = 0
Expand in polynomial form
0.628 s4 + 5.303 s3 + 12.73 s2 +
0.628 s4 + 5.303 s3 + 12.73 s2 +
9.790 s + 1 + 1.954 Kc = 0
Set: s = i and Kc = Ku ; = u

0.628 u4 - 5.303iu3 - 12.73 u2 +

9.790 iu + 1 + 1.954 Ku = 0

(0.628 u4 - 12.73 u2 + 1 + 1.954

Ku )
- i (5.303 3 - 9.79 ) = 0
(0.628 u4 - 12.73 u2 + 1 + 1.954
Ku )
- i (5.303 u3 - 9.79 u ) = 0 +
i0 i = 0 ; 5.303 u3 - 9.79 u =
0
5.303 u3 = 9.79 u
u = 1.359 rad/min

0.628 u4 - 12.73 u2 + 1 + 1.954 Ku

=0
K = 10.42 ; P = 2/ =
Determine the tuning parameters
for the quarter decay ratio
response of the PID-controller
Kc = Ku / 1.7 = 6.13
I = Pu / 2 = 2.31 min
D = Pu / 8 = 0.58 min

TF of PID controller is:

Gc = K c 1 + 1 1+ Ds
s
Substitute in G1 and Gc and
expand into a polynomial form.
0.628 s5 + 5.303 s4 + 12.73 s3 +
16.74 s2 + 15.89 s + 5.125 = 0
Determine roots:
Three real and negative roots
Pair of conjugate roots with
negative real part.
Roots are: -0.327 1.232i ;
-0.519 ; -1.784 ; -5.49
 = 1.232 rad/min
P = 2 / 1.232 = 5.1 min
Decay ratio:
e2/ = 0.19
Activity:
Repeat problem for a PI
controller tuned using quarter
decay method.