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SHAMS Closed Loop PID Tuning
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M. Shamssuzzoha
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Closed-Loop PI/PID Controller Tuning for Stable and Integrating
Process with Time Delay
Mohammad Shamsuzzoha
Department of Chemical Engineering, King Fahd University of Petroleum and Minerals, Dhahran, 31261, Kingdom of Saudi Arabia
ABSTRACT: The objective of this study is to develop a new online controller tuning method in closed-loop mode. The
proposed closed-loop tuning method overcomes the shortcoming of the well-known Ziegler-Nichols (1942) continuous cycling
method and it can be an alternative for the same. This is a simple method to obtain the PI/PID setting which gives the acceptable
performance and robustness for a broad range of the processes. The method requires a closed-loop step set-point experiment
using a proportional only controller with gain Kc0. On the basis of simulations for a range of first-order with time delay processes,
simple correlations have been derived to give PI/PID controller settings. The controller gain (Kc/Kc0) is only a function of the
overshoot observed in the set-point experiment. The controller integral and derivative time (τI and τD) is mainly a function of the
time to reach the first peak (tp). The simulation has been conducted for a broad class of stable and integrating processes, and the
results are compared with a recently published paper of Shamsuzzoha and Skogestad (2010).1
The proposed tuning method gives
consistently better performance and robustness for a broad class of processes.
1. INTRODUCTION
The proportional, integral, and derivative (PID) controller is
widely used in the process industries due to its simplicity,
robustness, and wide ranges of applicability in the regulatory
control layer. The stable and integrating processes are very
common in process industries in flow, level, and temperature
loop. On the basis of a survey of more than 11 000 controllers
in the process industries, Desborough and Miller2
reported that
more than 97% of the regulatory controllers utilize the PI/PID
algorithm. A recent survey of Kano and Ogawa3
shows that
the ratio of applications of a different type of controller, for
example, PI/PID control, conventional advanced control, and
model predictive control is about 100:10:1. Although the
PI/PID controller has only few adjustable parameters, they are
difficult to be tuned properly in real processes. One reason is
that tedious plant tests are required to obtain improved con-
troller settings. Because of this reason, finding a simple PI/PID
tuning approach with a significant performance improvement
has been an important research issue for process engineers.
Therefore, the objective of this paper is to develop a method
that should be simpler with enhanced performance in closed-
loop mode.
There are variety of controller tuning approaches reported in
the literature,4−21
and among those two are widely used for
controller tuning; one may use open-loop or closed-loop plant
tests. Most tuning approaches are based on open-loop plant
information, typically the plant’s gain (k), time constant (τ),
and time delay (θ). One popular approach is direct synthesis
(Seborg et al.4
) and the direct synthesis for the disturbance
(DS-d) method proposed by Chen and Seborg,5
in which they
obtained the PI/PID controller parameters by computing the
ideal feedback controller which gives a predefined desired
closed-loop response. The IMC based PI/PID tuning method
was proposed by Rivera et al.,6
Skogestad,7
and Shamsuzzoha
and Lee8,9
for different types of processes. Although the ideal
controller for both the approach are often more complicated
than the PI/PID controller for time delayed processes, the
controller form can be reduced to either a PI/PID controller or
a PID controller cascaded with a low order filter by performing
appropriate approximations of the dead time in the process
model. The PI/PID tuning method based on both the approaches
is simpler in use with significantly improved performance. It is
well-known that the PID tuning based on both the methods
give very good performance for set-point changes but sluggish
responses to input (load) disturbances for lag-dominant
(including integrating) processes with θ/τ < 0.125. To improve
load disturbance rejection, Skogestad7
proposed the modified
SIMC method where the integral time is reduced for processes
with a large value of the time constant τ. The SIMC rule has
one tuning parameter similar to IMC, the closed-loop time
constant τc, and for “fast and robust” control it is recommended
to choose τc = θ, where θ is the (effective) time delay. Shamsuzzoha
and Lee9
developed the PID controllers in series with lead/lag
compensators for stable, integrating, and unstable processes.
This method gives significantly better performance for different
types of second order process.
However, these approaches require that one first obtains
an open-loop model of the process and then tuning of the
control-loop. There are two problems here. First, an open-loop
experiment, for example a step test, is normally needed to get
the required process data. This may be time-consuming and
may upset the process and even lead to process runaway.
Second, approximations are involved in obtaining the process
parameters (e.g., k, τ, and θ) from the data.
The main alternative is to use closed-loop experiments. One
approach is the classical method of Ziegler−Nichols,10
which
requires very little information about the process; namely, the
ultimate controller gain (Ku) and the period of oscillations (Pu)
Received: December 23, 2012
Revised: August 7, 2013
Accepted: August 12, 2013
Article
pubs.acs.org/IECR
© XXXX American Chemical Society A dx.doi.org/10.1021/ie401808m | Ind. Eng. Chem. Res. XXXX, XXX, XXX−XXX

which are obtained from a single experiment. For a PI-controller
the recommended settings are Kc = 0.45Ku and τI = 0.83Pu.
However, there are several disadvantages. First, the system
needs to be brought to its limit of instability and a number of
trials may be needed to bring the system to this point. To avoid
this problem one may induce sustained oscillation with an on−
off controller using the relay method of Åström and Hägglund,.11
However, this requires that the feature of switching to
on/off-control has been installed in the system. Another
disadvantage is that the Ziegler−Nichols10
tunings do not work
well on all processes. It is well-known that the recommended
settings are quite aggressive for lag-dominant (integrating)
processes (Tyreus and Luyben,12
) and quite slow for delay-
dominant process (Skogestad7
). To get better robustness for
the lag-dominant (integrating) processes, Tyreus and Luyben12
proposed to use less aggressive settings (Kc = 0.313Ku and
τI = 2.2Pu), but this makes the response even slower for delay-
dominant processes (Skogestad7
). This is a fundamental prob-
lem of the Ziegler−Nichols10
method because it uses only two
pieces of information about the process (Ku, Pu), which cor-
respond to the critical point on the Nyquist curve. This does
allow one to distinguish, for example, between a lag-dominant
and a delay-dominant process. A fix is to use additional closed-
loop experiments, for example, an experiment with an
integrating controller (Schei13
), and this does allow one to
distinguish between a lag-dominant and a delay-dominant
process. A third disadvantage of the Ziegler−Nichols10
method
is that it can only be used on processes for which the phase lag
exceeds −180 deg at high frequencies. For example, it does not
work on a simple second-order process.
Luyben14
proposed modified Relay−Feedback method for
the identification of the process by using information of the
shapes of the response curve. The method provides
approximate model for the processes that can be described
by a first-order lag with dead time. His method works on some
higher-order systems, but it is not applicable for inverse-
response and unstable processes.
Recently, Shamsuzzoha and Skogestad1
developed a new
procedure for PI/PID tuning method in the closed-loop mode.
Their method is based on the SIMC tuning rule and provides
satisfactory results for both performance and robustness. For
the PID tuning parameter they need to repeat the experiment
with the PD controller based on the prior information obtained
from the P controller test. They recommended adding the
derivative action only for a dominant second-order process.
Haugen15
developed the “Good Gain” method in which one
must find the suitable controller gain in closed-loop mode. Like
in the “Set Point Overshoot” method1
the system is not
brought into marginal stability during the tuning, and that is the
advantage of this method. The Good Gain method has a
significant drawback, as the method may not be quick to use
because of the number of trials needed to find a good value of
the controller gain and eventually suitable tuning parameters.
Dale’s closed-loop16
PI tuning technique is mainly for an
industrial practitioner, and it is based on the trial and error
approach in which one should have controller gain (Kcd) in a
closed-loop for the critically damped output response. In a
repetitive process the suitable controller gain (Kcd) for critically
damped output response is obtained, and then the final
controller gain is given based on the desired response. The
suggested final controller gains are Kc ≈ 1.2Kcd and Kc ≈ 0.8Kcd
for desired underdamped and overdamped responses, respec-
tively. A large integral time (τI) is recommended for the offset
removal, and if required derivative action can be added in the
final setting.
Hu and Xiao17
have tried to develop an analytical PI tuning
method, which resembles “Set Point Overshoot” method.1
They derived an analytical PI-tuning rule for integral plus time
delay (ITD) and first-order plus time delay (FOTD) processes
using the Set Point Overshoot method.1
The rule expresses the
PI parameters in terms of the steady-state offset, peak time, and
overshoot or rise time, as recorded in a closed-loop
experiment.1
The rule turns out to be applicable to a broad
range of processes typical for process control, and it gives
comparable performance to the PI tuning rule proposed in the
recent work of Shamsuzzoha and Skogestad.1
Yuwana and Seborg18
originally proposed a two-step tuning
procedure based on a closed-loop set-point experiment with a
P-controller. They identified a first-order with delay model by
matching the closed-loop set-point response with a standard
oscillating second-order step response. They used first-order
Pade approximation for the time delay term in the process.
They identified first overshoot and undershoot and second
overshoot from the set-point response, but the method may be
modified to not using the second overshoot, as in the present
study. In next step for the controller setting they used the
Ziegler−Nichols10
tuning rules, which as mentioned earlier may
give a rather aggressive setting.
Veronesi and Visioli19
recently published another two-step
approach, where the idea is to assess and possibly retune an
existing PI controller. From a closed-loop set point or
disturbance response using the existing PI controller, they
identify a first-order with delay model and time constant and
use this to assess the closed-loop performance. If the
performance is worse than what could be expected, then the
controller is retuned, for example, using the SIMC method. In
another paper, Seki and Shigemasa20
proposed to retune the
controller based on a comparison of closed-loop responses
obtained with two different controller settings.
It is important to note that often it is difficult to carryout
open-loop tests. There is always the possibility that a control
variable may drift, and an operator may need to intervene to
prevent product qualities off-specification. In the case of closed-
loop tests, one can easily maintain control on the process
during the experiment and reduce the effect of disturbances to
the process operation.
The PI/PID controller design method was discussed
extensively in the literature, and it shows that most of the
tuning method is based on the two-steps procedure. The first
step is to find the process parameters (e.g., k, τ, and θ) by using
an open-loop or closed-loop test. The second step is to use a
suitable tuning method to obtain the PI/PID controller setting.
The design method, which gives the PI/PID controller
setting in a simple and effective way has always been an
important research issue for process engineers.
Therefore, the present study is focused on the design of the
PI/PID controller to fulfill the various objectives: (i) Proposed
controller tuning method should be in closed-loop mode. (ii)
The PI/PID tuning rule should be simple, analytically derived,
and applicable to different types of processes with a wide range
of process parameters in a unified framework. (iii) The
proposed closed-loop tuning method should overcome the
shortcoming of the Ziegler−Nichols continuous cycling
method. (iv) The method should be applicable to the wide
range of the overshoot (approximately 10−60%) with the initial
controller gain Kc0.
Industrial & Engineering Chemistry Research Article
dx.doi.org/10.1021/ie401808m | Ind. Eng. Chem. Res. XXXX, XXX, XXX−XXX
B

2. IMC-PID CONTROLLER TUNING RULE
The motivation of this section is to give a brief description of
the concept of the IMC-PID (Seborg al.4
) controller tuning for
a first order process with time delay.
In Figure 1, the block diagram of a conventional feedback
control system is shown, where g denotes the process transfer
function and c the feedback controller. The other variables are
the manipulated variable u, the measured and controlled output
variable y, the set point ys, and the disturbance d, which is
assumed to be a “load disturbance” at the plant input. The
closed-loop transfer functions from the set point and load
disturbance to the output are
=
+
+
+
y
cg
cg
y
g
cg
d
1 1
s
(1)
In process control, a first-order process with time delay is a
common representation of the process dynamics:
τ
=
+
θ
−
g s
k
s
( )
e
1
s
(2)
where k is the process gain, τ is the lag time constant, and θ is
the time delay. Most processes in the chemical industries can be
satisfactorily controlled using a PID controller:
τ
τ
= + +
⎛
⎝
⎜
⎞
⎠
⎟
c s K
s
s
( ) 1
1
c
I
D
(3)
The other structure of the PID controller-like series form
of the PID can easily be transformed from eq 3 (Seborg et al.4
).
The following relation can express the conventional feedback
controller, which is equivalent to the IMC controller.
=
− ̃
c s
q
gq
( )
1 (4)
where g̃ denotes the process transfer function and c and q are
the conventional controller and IMC controller, respectively.
The IMC controller is designed in two steps (details are
available in Seborg et al.4
):
Step 1: The process model g̃ is decomposed into two parts:
̃ =
g p p
M A (5)
where pM and pA are the portions of the model inverted and
not inverted, respectively, by the controller (pA is usually a
nonminimum phase and contains dead times and/or right half
plane zeros); pA(0) = 1.
Step 2: The IMC controller is designed by
= −
q p f
M
1
(6)
The IMC filter f is usually given as f = 1/(τcs+1)r
where τc is an
adjustable parameter that controls the trade-off between the
performance and robustness; r is selected to be large enough to
make the IMC controller semiproper. The first order Pade
approximation has been utilized for the approximation of the
dead time term in eq 2.
τ
=
−
+ +
θ
θ
( )
( )
g s
k s
s s
( )
1
( 1) 1
2
2 (7)
The resulting IMC-PID tuning formula (Seborg et al.4
) after
simplification is obtain in eq (8) for the first order process with
time delay in eq 2.
τ θ
τ θ
=
+
+
K
k
2
(2 )
c
c (8a)
τ τ
θ
= +
2
I
(8b)
τ
τθ
τ θ
=
+
2
D
(8c)
The IMC-PID controller designed on the basis of the IMC
principle provides excellent set-point tracking, but has a
sluggish disturbance response, especially for processes with a
small θ/τ ratio.1,4−8
To improve the load disturbance response,
Skogestad7
recommended modification of the integral time as
τ τ θ
= +
4( )
I c (9)
In the proposed method, the objective is to obtain the improved
disturbance rejection response. Therefore, the integral time
in eq 8b is modified similar to SIMC7
for the improved
disturbance and given as
τ τ
θ
τ θ
= + +
⎜ ⎟
⎧
⎨
⎩
⎛
⎝
⎞
⎠
⎫
⎬
⎭
min
2
, 4( )
I c
(10)
τc = θ is the recommend setting for this tuning rule which gives
maximum sensitivity (Ms) = 1.70, approximately. The resulting
simplified tuning rule for the PID controller setting after τc = θ
is given as
τ θ
θ
=
+
K
k
2
3
c
(11a)
τ τ
θ
θ
= +
⎜ ⎟
⎧
⎨
⎩
⎛
⎝
⎞
⎠
⎫
⎬
⎭
min
2
, 8
I
(11b)
τ =
τθ
τ + θ
2
D
(11c)
3. CLOSED-LOOP EXPERIMENT
This section is devoted for the development of the PI/PID
controller based on the closed-loop data which resembles the
PID tuning method in eq (11). The simplest closed-loop
experiment is probably a set-point step test (Figure 2) where
one maintains full control of the process, including the change
in the output variable. The simplest to observe is the time tp to
reach the (first) overshoot and its magnitude, and this
information is therefore the basis for the proposed method.
The proposed procedure is as follows:1
(1.) Switch the controller to P-only mode (for example,
increase the integral time τI to its maximum value or set the
integral gain KI to zero). In an industrial system, with bumpless
transfer, the switch should not upset the process.
(2) Make a set-point change that gives an overshoot between
0.10 (10%) and 0.60 (60%); about 0.30 (30%) is a good value.
Record the controller gain Kc0 used in the experiment. Most
likely, unless the original controller was quite tightly tuned, one
Figure 1. Block diagram of feedback control system.
C

will need to increase the controller gain to get a sufficiently
large overshoot.
Note that small overshoots (less than 0.10) are not
considered because it is difficult in practice to obtain from
experimental data accurate values of the overshoot and peak
time if the overshoot is too small. Also, large overshoots (larger
than about 0.6) give a long settling time and require more
excessive input changes. For these reasons we recommend
using an “intermediate” overshoot of about 0.3 (30%) for the
closed-loop set-point experiment.
(3) From the closed-loop set-point response experiment,
one can obtain the following values (see Figure 2): Controller
gain, Kc0; overshoot = (Δyp − Δy∞)/Δy∞; time from set-point
change to reach peak output (overshoot), tp; relative steady
state output change, b = Δy∞/Δys.
Here the output variable changes are given as: set-point change,
Δys = ys − y0; peak output change (at time tp), Δyp = yp − y0;
steady-state output change after set-point step test Δy∞ = y∞ − y0.
To find Δy∞ one needs to wait for the response to settle,
which may take some time if the overshoot is relatively large
(typically, 0.3 or larger). In such cases, one may stop the experi-
ment when the set-point response reaches its first minimum
and record the corresponding output, Δyu, (Shamsuzzoha and
Skogestad1
).
Δ = Δ + Δ
∞
y y y
0.45( )
p u (12)
To make the proposed set-point experiment more under-
standable, simulation has been conducted for six different
controller gains Kc0. The resulting closed-loop response is
shown in Figure 3, which gives the overshoots of 0.10, 0.20,
0.30, 0.40, 0.50, and 0.60. A typical process g(s) = e−s
/(10s + 1)
is considered for this analysis which has a unit time delay
(θ = 1) and has a 10 times larger time constant (τ = 10).
As expected, the closed-loop response gets faster and
more oscillatory as the overshoot increases. As mentioned
earlier the recommended intermediate overshoot of about
0.3 (30%) is the best choice for the closed-loop set-point
experiment.
Figure 4 shows set-point responses when the P-controller
gain Kc0 has been adjusted to give an overshoot of 0.3 for a
wide range of first-order plus delay processes with a unit time
delay (θ = 1), g(s) = e−s
/(τs + 1). The process time constant τ
varies from 0 (pure delay process) to 100 (almost integrating
process). The time to reach the first peak (tp) increases
somewhat as we increase τ, but the most striking difference is
that the steady-state output change (b-value) approaches 1 as τ
increase. Thus, the b-value provides an indirect measure of the
value of τ/θ, which will be utilized in the next section.
4. CORRELATION BETWEEN CLOSED-LOOP SET
POINT RESPONSE AND THE PID SETTINGS
The objective of this paper is to provide a procedure in closed-
loop for controller tuning similar to the Shamsuzzoha and
Skogestad1
and Ziegler-Nichols10
method. Thus, the goal is to
derive a correlation, preferably as simple as possible, between
the set-point response data (Figure 2) and the PID settings in
eq (11), initially with the choice τc = θ. For this purpose,
consider 15 first-order with delay models g(s) = ke−θs
/(τs + 1)
that cover a wide range of processes; from delay-dominant to
lag-dominant (integrating):
τ/θ = 0.1, 0.2, 0.4, 0.8, 1.0, 1.5, 2.0, 2.5, 3.0, 7.5, 10.0,
20.0, 50.0, 100.0
It is always possible to scale time with respect to the time
delay (θ) and since the closed-loop response depends on the
product of the process and controller gains (kKc), so with-
out loss of generality k = 1 and θ = 1 were used in all
simulations.
Figure 2. Closed-loop step set-point response with P-only control.
D

For each of the 15 process models (different values of τ/θ),
the PID settings were obtained using eq (11) with the choice
τc = θ. Furthermore, for each of the 15 processes, six
closed-loop step set-point responses were generated using
P-controllers that give different fractional overshoots.
overshoots = 0.10, 0.20, 0.30, 0.40, 0.50, and 0.60
In total, it has then 90 set-point responses, and for each of these
four data were recorded: the P-controller gain Kc0 used in the
experiment, the fractional overshoot, the time to reach the over-
shoot (tp), and the relative steady-state change, b = Δy∞/Δys.
Controller Gain (Kc). Initially the aim is to obtain a
relationship between the above four data and the corresponding
proposed controller gain Kc. Indeed, as illustrated in Figure 5,
where kKc was plotted as a function of kKc0 for 90 set-point
experiments, the ratio Kc/Kc0 is approximately constant for a
fixed value of the overshoot, independent of the value of τ/θ.
Thus, it is possible to write
=
K
K
A
c
c0 (13)
where the ratio A is a function of the overshoot only. In Figure 6,
the plot of the value of A as a function of the overshoot is given,
which is obtained as the best fit of the slopes of the lines in
Figure 5. The following equation (solid line in Figure 6) fits the
data in Figure 5 well and is given as
= − +
A [1.55 (overshoot) 2.159 (overshoot) 1.35]
2
(14)
Figure 3. Step set-point responses with various overshoots for first-order plus time delay process, g = e−s
/(10s + 1).
Figure 4. Step set-point responses with overshoot of 0.3 (30%) for eight first-order plus time delay processes with τ/θ ranging from 0 to
100 (g = e−θs
/(τs + 1), θ = 1).
E

Conclusion. The controller gain (Kc) from the closed-loop
step test is obtained from the following final eq 15. It is only a
function of initial controller gain (Kc0) and overshoot.
= − +
K K [1.55 (overshoot) 2.159 (overshoot) 1.35]
c c0
2
(15)
Integral Time (τI). It is interesting to find a simple cor-
relation for the integral time. The PID method in eq 11b uses a
minimum of two values for the integral time. Therefore, it is
reasonable to search a similar relationship, that is, to find one
value (τI1 = τ + θ/2) for processes with a relatively large delay,
and another value (τI2 = 8θ) for processes with a relatively
small delay including integrating processes.
Case I: (Process with Relatively Large Delay). This case
arise when processes have a relatively large delay i.e., τ/θ < 8,
the integral action in the proposed tuning rule is to use
τI = (τ + θ/2). Rearrangement of eq 11a is given as
τ
θ θ
=
−
kK
3
2
c
(16)
Figure 5. Relationship between P-controller gain kKc0 used in set-point experiment and corresponding IMC-PID controller gain kKc in eq 11a.
Figure 6. Variation of A with overshoot using data (slopes) from Figure 5.
F

Adding both the side θ/2 in eq 16 and substitute (τ + θ/2) = τI,
the resulting equation is
τ θ
= kK
1.5
I c (17)
In eq 17, it is also required to balance the value of the process
gain k, and to this effect write
= ·
kK kK K K
/
c c0 c c0 (18)
Here, the value of the loop gain kKc0 for the P-control set-point
experiment is given from the value of b:
=
−
kK
b
b
(1 )
c0
(19)
Substituting kKc from eq 18 and Kc/Kc0 = A into eq 17, it is
given as
τ θ
=
−
A
b
b
1.5
(1 )
I
(20)
To prove this, the closed-loop set-point response is Δy/Δys =
gc/(1 + gc) and a P-controller with gain Kc0, the steady-state
value is Δy∞/Δys = kKc0/(1 + kKc0) = b. The absolute value is
included to avoid the problems if b > 1, as may occur for an
unstable process or because of inaccurate data.
It is possible to obtain the value of time delay θ directly from
the closed-loop set-point response, but usually this is not always
an easy task. The reasonable correlation has been developed by
Shamsuzzoha and Skogestad1
for θ and the set-point peak time
tp, which is easier to observe.
For processes with a relatively large time delay (τ/θ < 8), the
ratio θ/tp varies between 0.27 (for τ/θ = 8 with overshoot = 0.1)
and 0.5 (for τ/θ = 0.1 with all overshoots). For the intermediate
overshoot of 0.3, the ratio θ/tp varies between 0.32 and 0.50. A
conservative choice would be to use θ = 0.5tp because a large
value increases the integral time. However, to improve per-
formance for processes with smaller time delays, it is reasonable
to use θ = 0.43tp which is only 14% lower than 0.50 (the worst
case).
In summary, the integral time (τI) for a process with a
relatively large time delay is
τ =
−
A
b
b
t
0.645
(1 )
I p
(21)
Case II: (Process with Relatively Small Delay). The
proposed tuning rule and the Shamsuzzoha and Skogestad1
method have the same integral action for the lag-dominant
process. For the integral time for a lag-dominant (including
integrating) process with τ/θ > 8, the recommended tuning
rule has the integral time
τ θ
= 8
I2 (22)
For τ/θ > 8, Figure 7 shows that the ratio θ/tp varies between
0.25 (for τ/θ = 100 with overshoot = 0.1) and 0.36 (for τ/θ = 8
with overshoot 0.6). It is reasonable to select the average value
θ = 0.305tp which is only 15% lower than 0.36 (the worst case).
Also note that for the intermediate overshoot of 0.3, the ratio
θ/tp varies between 0.30 and 0.32. In summary, the integral
time for a lag-dominant process is
τ = t
2.44
I2 p (23)
Conclusion. Therefore, the integral time τI is obtained
as the minimum of the above two values as recommended in
eq 11b:
τ =
‐
⎛
⎝
⎜
⎞
⎠
⎟
A
b
b
t t
min 0.645
(1 )
, 2.44
I p p
(24)
Derivative Time (τD). A significant number of the PID
controllers switched off their derivative part, but proper use
of derivative action can increase stability and improve the
closed-loop performance. The derivative action is very
important for slow moving loops where overshoot is
undesirable, for example, temperature loop. The motivation
of this section is to develop the approach for inclusion of the
derivative action from closed-loop data. In this study the deriva-
tive action is recommended for the process having τ/θ ≥ 1.
The addition of the derivation action in that kind of slow
process could be useful for the performance and stability
improvement.
Substitute the value of τ = τI − 0.5θ into τ/θ ≥ 1, and after
rearrangement the resulting equation is given as
τ θ
θ
−
≥
( 0.5 )
1
I
(25)
After simplification it is τI/θ ≥ 1.5 and the resulting constraint
is kKc ≥ 1.0. The corresponding closed-loop condition for the
derivative action is given as
−
≥
A
b
b
(1 )
1
(26)
Case I. For an approximately integrating process (τ ≫ θ),
where integral time is τI = 8θ, in the closed-loop the time delay
and tp relation is θ= 0.305tp, the derivative time τD1 in eq 11c
can be approximated as
τ
τθ
τ θ
τθ
τ
θ
=
+
≈ = = =
t
t
2 2 2
0.305
2
0.15
D1
p
p
(27)
Case II. The process with a relatively large delay, for this
case integral time τI = (τ + 0.5θ), and time delay in a closed-
loop is θ = 0.43tp. For such cases, the derivative action is re-
commended only if τ/θ ≥ 1. Assuming the case when τ = θ, the
τD2 is given from eq 11c as
Figure 7. Ratio of process time delay (θ) and set-point overshoot time
(tp) as a function of overshoot for four first-order with delay processes
(solid lines). Dotted lines are values of θ/tp used in final correlations,
(Shamsuzzoha and Skogestad1
).
G

Table 1. PI/PID Controller Setting for Proposed Method (F = 1) and Comparison with the Set Point Overshoot method (hereafter, SOM method1
)
resulting PI/PID-controller with performance and robustness index
P-control set-point experiment set point load disturbance
case process model methods Kc0 overshoot tp b Kc τI τD Ms IAE (y) TV(u) IAE (y) TV(u)
E1 + +
s s
1
( 1)(0.2 1)
SOM 15.0 0.322 0.393 0.937 9.03 0.958 1.74 0.30 23.72 0.11 1.81
proposed 15.0 0.322 0.393 0.937 12.29 0.958 0.055 1.20 0.26 27.19 0.78 1.35
E2
− + + + +
+ + +
s s s s
s s s
(( 0.3 1)(0.08 1))/((2 1)( 1)
(0.4 1)(0.2 1)(0.05 1) )
3
SOM 0.85 0.131 5.31 0.46 0.688 3.14 1.41 4.56 1.20 4.57 1.01
proposed 0.85 0.131 5.31 0.46 1.263 3.62 0.623 1.87 2.89 2.13 2.87 1.043
E3
+
+ + +
s
s s s
2(15 1)
(20 1)( 1)(0.1 1)2
SOM 5.0 0.314 0.527 0.909 3.043 1.287 1.70 0.43 7.16 0.43 1.48
proposed 5.0 0.314 0.527 0.909 4.14 1.29 0.074 1.36 0.37 8.64 0.312 1.21
E4 +
s
1
( 1)4
SOM 1.25 0.304 5.25 0.556 0.77 3.49 1.56 4.50 1.49 4.50 1.09
proposed 1.25 0.304 5.250 0.556 1.05 3.55 0.735 1.37 3.43 1.69 3.38 1.0
E5 + + + +
s s s s
1/(( 1)(0.2 1)(0.04 1)(0.008 1))
SOM 6.50 0.292 0.615 0.867 4.093 1.50 1.59 0.46 9.13 0.37 1.42
proposed 6.50 0.292 0.615 0.867 5.57 1.50 0.086 1.26 0.347 11.11 0.27 1.15
E6
+
+ +
s
s s s
(0.17 1)
( 1) (0.028 1)
2
2
SOM 0.80 0.301 4.987 1.0 0.496 12.17 1.77 4.74 1.29 24.51 1.81
proposed 0.80 0.301 4.987 1.0 0.675 12.17 12.17 1.28 4.39 1.47 18.03 1.41
E7
− +
+
s
s
2 1
( 1)3
SOM 0.40 0.309 5.98 0.286 0.245 1.263 2.13 7.04 1.57 8.62 1.83
proposed 0.40 0.309 5.98 0.286 0.334 1.286 3.15 8.80 2.77 10.56 3.10
E8 +
s s
1
( 1)2
SOM 0.58 0.307 6.19 1.0 0.357 15.10 1.75 6.21 0.90 42.33 1.72
proposed 0.58 0.307 6.19 1.0 0.485 15.10 0.87 1.34 5.73 1.05 31.13 1.38
E9 +
−
s
e
( 1)
s
2
SOM 1.0 0.321 3.85 0.50 0.603 1.995 1.58 3.31 1.27 3.31 1.04
proposed 1.0 0.321 3.85 0.50 0.82 2.033 1.92 3.04 2.09 2.53 1.43
E10 + +
−
s s
e
(20 1)(2 1)
s
SOM 8.0 0.301 8.425 0.889 4.966 20.56 1.62 5.92 10.99 4.14 1.34
proposed 8.0 0.301 8.425 0.889 6.754 20.56 1.18 1.35 5.69 13.74 3.042 1.11
E11
− +
+ +
−
s
s s
( 1)e
(6 1)(2 1)
s
2
SOM 1.40 0.344 13.67 0.583 0.817 9.602 1.59 11.72 1.60 11.78 1.09
proposed 1.40 0.344 13.67 0.583 1.112 9.786 1.91 1.44 9.27 1.91 8.831 1.06
E12
+ +
+ + +
−
s s
s s s
(6 1)(3 1)e
(10 1)(8 1)( 1)
s
0.3 SOM 15.0 0.308 0.836 0.938 9.22 2.04 1.75 0.92 21.54 0.23 1.26
proposed 15.0 0.308 0.836 0.938 12.54 2.04 0.12 1.92 0.82 33.60 0.167 1.53
E13
+
+ +
−
s
s s
(2 1)e
(10 1)(0.5 1)
s
SOM 4.75 0.302 2.20 0.826 2.9 5.367 1.76 2.88 6.60 1.85 1.20
proposed 4.75 0.302 2.20 0.826 4.0 5.367 0.308 2.56 2.51 14.98 1.35 2.58
E14
− +
s
s
1 SOM no oscillation with P-controller, method does not apply
proposed no oscillation with P-controller, method does not apply
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Table 1. continued
E14 (a)
− + −
s
s
( 1)e s
0.1 SOM 0.70 0.285 1.655 1.0 0.445 4.04 2.01 3.58 1.74 11.63 3.40
proposed 0.70 0.285 1.655 1.0 0.60 4.04 2.91 2.54 2.87 8.26 4.14
E15
− +
+
s
s
1
( 1)
SOM no oscillation with P-controller, method does not apply
E15 (a)
− +
+
−
s
s
( 1)e
( 1)
s
0.2 SOM 0.51 0.31 1.55 0.338 0.314 0.418 3.90 4.12 3.88 5.26 4.41
proposed 0.51 0.31 1.55 0.338 0.433 0.432 12.29 11.78 14.52 13.2 15.22
E16 +
s
1
( 1)
SOM no oscillation with P-controller, method does not apply
E16 (a) +
−
s
e
( 1)
s
0.05 SOM 16.0 0.309 0.174 0.941 9.819 0.425 1.63 0.16 22.08 0.043 1.32
proposed 16.0 0.309 0.174 0.941 13.36 0.425 0.0244 1.73 0.15 30.64 0.032 1.26
E17 +
−
s
e
(5 1)
s
SOM 4.0 0.298 3.05 0.80 2.494 6.538 1.56 2.62 4.96 2.62 1.04
proposed 4.0 0.298 3.05 0.80 3.391 6.658 0.427 1.66 1.97 7.60 1.96 1.22
E18 +
−
s
e
( 1)
s
SOM 0.90 0.326 2.40 0.474 0.538 1.111 1.58 2.09 1.23 2.06 1.03
proposed 0.90 0.326 2.40 0.474 0.733 1.132 1.93 2.02 1.98 1.64 1.38
E19 +
−
s
e
(0.2 1)
s
SOM 0.30 0.292 2.0 0.231 0.189 0.325 1.67 1.88 1.12 1.87 1.10
proposed 0.30 0.292 2.0 0.231 0.257 0.331 2.08 1.93 1.58 1.90 1.55
E20 +
−
s
e
(0.05 1)
s
2
SOM 0.30 0.30 2.0 0.231 0.187 0.321 1.61 1.74 1.02 1.74 1.01
proposed 0.30 0.30 2.0 0.231 0.254 0.327 1.98 1.69 1.39 1.69 1.39
E21
−
e s SOM 0.30 0.30 2.0a
0.231 0.187 0.321 1.53 1.72 1.07 1.72 1.02
proposed 0.30 0.30 2.0a
0.231 0.254 0.327 1.84 1.46 1.35 1.46 1.35
E22 +
−
s
100e
100 1
s
SOM 0.80 0.301 3.293 0.99 0.496 8.034 1.68 3.79 1.18 16.19 1.50
proposed 0.80 0.301 3.293 0.99 0.675 8.034 0.461 1.72 3.36 1.70 11.9 1.51
E23
+
+
−
s
s s
(10 1)e
(2 1)
s
SOM 0.26 0.303 2.563 1.0 0.161 6.255 1.96 3.85 0.43 42.74 1.51
proposed 0.26 0.303 2.563 1.0 0.217 6.255 0.359 2.35 3.29 0.75 30.91 2.22
E24
−
s
e s
SOM 0.80 0.302 3.282 1.0 0.496 8.008 1.70 3.94 1.21 16.15 1.55
proposed 0.80 0.302 3.282 1.0 0.675 8.008 0.46 1.72 3.47 1.73 11.87 1.53
E25
+
+ +
s
s s s
( 6)
( 1) ( 36)
2
2
SOM 0.80 0.304 4.989 1.0 0.495 12.173 1.77 4.76 1.29 24.61 1.81
proposed 0.80 0.304 4.989 1.0 0.673 12.173 1.718 1.28 4.41 1.48 18.1 1.41
E26
− − +
+
s
s s
1.6( 0.5 1)
(3 1)
SOM −0.25 0.296 9.685 1.0 −0.156 23.632 1.77 9.46 0.41 151.3 1.82
proposed −0.25 0.296 9.685 1.0 −0.213 23.632 1.356 1.27 8.68 0.502 111.2 1.57
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Table 1. continued
E27
−
s
e s
2
SOM Not possible to stabilize with PI controller
proposed Not possible to stabilize with PI controller
E28
− +
+
s
s
( 2 1)
( 1)3
SOM 0.40 0.309 5.98 0.286 0.246 1.263 2.14 7.04 1.56 8.62 1.83
proposed 0.40 0.309 5.98 0.286 0.334 1.286 3.15 8.80 2.77 10.56 3.10
E29
− +
+
−
s
s
( 1)e
( 1)
s
2
5
SOM 0.40 0.304 11.99 0.286 0.247 2.547 1.70 11.66 1.17 11.63 1.18
proposed 0.40 0.304 11.99 0.286 0.336 2.594 1.15 12.28 1.74 11.87 1.69
E30 + + +
s s s
9
( 1)( 2 9)
2
SOM 1.25 0.322 1.40 0.556 0.752 0.905 1.72 1.26 1.57 1.23 1.21
proposed 1.25 0.322 1.40 0.556 1.023 0.922 0.196 1.62 1.03 1.97 0.92 1.23
E31 + + +
s s s
9
( 1)( 9)
2
SOM 0.75 0.31 1.40 0.429 0.460 0.554 2.18 1.53 1.53 1.60 1.77
proposed 0.75 0.31 1.40 0.429 0.626 0.564 3.72 1.89 3.40 2.0 3.74
E32
+ + − + +
+ + +
−
s s s s
s s s
(( 2 9)( 2 1)( 1))e )/
(( 0.5 1)(5 1) )
s
2 2
2 2
SOM 0.12 0.30 15.04 0.519 0.074 8.667 1.61 12.74 0.16 119.4 1.17
proposed 0.12 0.30 15.04 0.519 0.101 8.826 1.97 12.12 0.23 91.13 1.59
E33 +
−
s
e
(5 1)
s
SOM 4.0 0.30 3.67 1.333 2.487 7.852 2.33 7.96 10.15 3.81 3.12
proposed 4.0 0.30 3.67 1.333 3.383 7.996 0.514 1.80 5.75 10.88 2.44 2.24
a
For pure time delay process (E21), obtain tp as end time of the peak (or add a small time constant in the process for the simulation). Note: Detuning is required for the case E15 (a).
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τ
τθ
τ θ
θ
θ θ
θ
θ
θ
=
+
≈
+
= = = =
t
t
2 2 3 3
0.43
3
0.1433
D2
2 2
p
p
(28)
Note: The derivative action is only recommended for the
processes which have τ/θ ≥ 1. The resulting criteria in the
closed-loop to add derivative action is A|b/(1 − b)| ≥ 1.
Summary. The derivative action for both cases, that is, τD1
and τD2 are approximately the same, and the conservative choice
for the selection of τD is recommended as
τ =
−
≥
t A
b
b
0.14 if
(1 )
1
D p
(29)
5. SELECTION OF PROPORTIONAL CONTROLLER
GAIN (KC0)
It is mentioned earlier that the proposed method is valid for the
overshoot between 0.1 to 0.6; however, an overshoot of around
0.3 is recommended for a better response. Sometimes achieving
the P-controller gain (Kc0) via trial and error that gives the
overshoot around 0.3 can be time-consuming.
Therefore, an effective approach to get the value of Kc0 that
gives the overshoot around 0.3 is very significant for the proposed
method. It is important to note that this procedure requires initial
information of the first closed-loop experiment. Let us assume
that the first closed-loop test has a P-controller gain of Kc01, and a
Figure 8. Responses of the simple second-order process (1/((s + 1)(0.2s + 1))) E1. Set-point change at t = 0; load disturbance of magnitude 1 at t = 5.
Figure 9. Responses of high-order process (1/((s + 1)(0.2s + 1)(0.04s + 1)(0.008s + 1))) E5, Set-point change at t = 0; load disturbance of
magnitude 1 at t = 10.
K

resulting overshoot OS1 is achieved that is between 0.1 to 0.60;
this is not close to the recommended value of overshoot 0.30.
Let the target overshoot be OS and the target P-controller
gain be Kc0. In the proposed closed-loop tuning method the
goal is to match the performance with the PID tuning rule. This
can be achieved only by maintaining a constant proportional
gain Kc, regardless of the overshoot that resulted from the
closed-loop set-point test. Ideally, Kc should be the same as that
determined with different overshoots from various closed-loop
set-point tests and the resulting correlation is given as
− +
= − +
K
K
[1.55(OS ) 2.159(OS ) 1.35]
[1.55(OS) 2.159(OS) 1.35]
1
2
1 c01
2
c0 (30)
The above eq 30 gives a general guideline for choosing the
P-controller gain for the next closed-loop set-point test. As
mentioned earlier, the proposed method is in good agreement
with the PID setting for the overshoot around 0.3. Therefore,
the overshoot in eq 30 is set as 0.30, and after simplification the
gain for the next closed-loop test is recommended as
= − +
K K
1.19(1.45(OS ) 2.02(OS ) 1.27)
c0 1
2
1 c01 (31)
Note: It is not so important to achieve the precise fractional
overshoot of 0.3; therefore a few trials are sufficient to get the
desire overshoot around 0.3 from eq 31.
A high order process given in example E2 is considered to show
the effectiveness of the proposed eq 31 for the calculation of the
Figure 10. Responses of third-order integrating process (1/(s(s + 1)2
)) E8. Set-point change at t = 0; load disturbance of magnitude 1 at t = 100.
Figure 11. Responses of a third-order with positive zero and time delay process (((−s + 1)e−s
)/((6s + 1)(2s + 1)2
)) E11. Set-point change at t = 0;
load disturbance of magnitude 1 at t = 100.
L

desired overshoot in the step test experiment. First trial: Let us
suppose that the P-controller is applied with an initial controller
gain Kc01 = 0.85, and after the step test the resulting overshoot
comes out to be OS1 = 0.13. From eq 31, the resulting controller
gain for the next trial would be 1.042. Second trial: similar to first
trial, use a controller gain of 1.042 in the second test and the
resulting overshoot would be 0.18. On the basis of these two new
pieces of information the controller gain would be 1.182, and
corresponding to this controller gain the overshoot will be 0.22.
6. FINAL CHOICE OF THE CONTROLLER SETTINGS
(DETUNING)
The proposed method has been derived to match the per-
formance with the PID tuning rule in eq (11). It is based
on the closed-loop time constant equal to the time delay
(τc = θ). In real practice one may want to use less aggres-
sive (detuned) settings (τc > θ), or one may even want to
speed up the response (τc < θ). To this end, we want to
introduce a detuning factor F, where F > 1 corresponds
to less aggressive settings and F < 1 to more aggressive
settings.1,21
The detuning factor F has been included in the controller
gain and integral time, and in conclusion the final tuning
formulas for the proposed method are
=
K K A F
/
c c0 (32)
τ =
−
⎛
⎝
⎜
⎞
⎠
⎟
A
b
b
t F t F
min 0.645
(1 )
, 2.44
I p p
(33)
τ =
−
≥
t A
b
b
0.14 if
(1 )
1
D p
(34)
where A = [1.55 (overshoot)2
−2.159 (overshoot) + 1.35] and
F is a detuning parameter. F = 1 gives the “fast and robust”
PI/PID settings corresponding to τc = θ. To detune the
response and get more robustness one can select F > 1, but in
special cases one may select F < 1 to speed up the closed-loop
response.
7. SIMULATION STUDY
This section deals with the simulation study conducted on the
different types of representative model to cover several classes
of process. The closed-loop simulations have been conducted
for 33 different processes and the proposed tuning method
provides in all cases acceptable controller settings with respect
to both performance and robustness. Several performance and
robustness measures have been calculated for all 33 processes
and are listed in Table 1. The brief overview of the performance
and robustness measures is mentioned here.
Figure 12. Responses of first-order with time delay process
(e−s
/(5s + 1)) E17. Set-point change at t = 0; load disturbance of
magnitude 1 at t = 40.
Figure 13. Responses of pure time delay process e−s
E21. Set-point change at t = 0; load disturbance of magnitude 1 at t = 15.
M

Output performance (y) is quantified by computing the
integrated absolute error, IAE = ∫ 0
∞
|y − ys|dt. Manipulated
variable usage is quantified by calculating the total variation
(TV) of the input (u), which is the sum of all its moves up and
down. If we discretize the input signal as a sequence [u1, u2,
u3 , ..., ui] then TV = ∑i = 1
∞
|ui+1 − ui|. Note that TV is
the integral of the absolute value of the derivative of the
input, TV = ∫ 0
∞
|du/dt|dt, so TV is a good measure of the
smoothness.1,7−9
To evaluate the robustness, we compute
the maximum closed-loop sensitivity, defined as Ms = maxω|1/
[1 + g c(jω)]|. Since Ms is the inverse of the shortest distance
from the Nyquist curve of the loop transfer function to the
critical point (−1,0), a small Ms-value indicates that the control
system has a large stability margin. It is recommended to have
IAE, TV, and Ms all to be small, but for a well tuned controller
there is a trade-off, which means that a reduction in IAE implies
an increase in TV and Ms (and vice versa).
For each process, PI/PID settings were obtained on the basis
of step response experiments with three different overshoots
(about 0.1, 0.3, and 0.6) and compared with the recently
published method the Set Point Overshoot method.1
The
results in Table 1 are only listed for the case of an overshoot
around 0.3, but one can easily obtain the result for other
overshoots. The closed-loop performance is evaluated by
introducing a unit step change in both the set-point and load
disturbance (ys = 1 and d = 1).
Figure 14. Responses of integrating process with time delay (e−s
/s) E24. Set-point change at t = 0; load disturbance of magnitude 1 at t = 50.
Figure 15. Responses of first-order unstable process g=(e−s
/(5s − 1)) E33. Set-point change at t = 0; load disturbance of magnitude 1 at t = 40.
N

The results for 33 example processes, without detuning
(F = 1), which were studied by Shamsuzzoha and Skogestad1
are listed in Table 1. For first-order processes (E14, E15, E16),
a small delay must be added (E14a, E15a, E16a) to be able to
get the closed-loop overshoot needed to apply the proposed
method.
The comparison of the performance and robustness matrix
for an overshoot around 30% shows that the proposed con-
troller setting response gives both smaller overshoot and faster
disturbance rejection than the set point overshoot method. It
also gives significant advantage in overshoot and settling time,
particularly in disturbance rejection. The closed−loop response
for both the set-point tracking and disturbance rejection
confirms the superior response of the proposed method.
It provides the better controller setting for all cases with
respect to both the performance and robustness. To show the
effectiveness of the proposed method eight cases of the
simulation are shown below, which covers a wide range of the
processes. The simulations illustrated in the figures for two
different overshoots (around 0.3 and 0.6) are compared with
the Set Point Overshoot method1
for the following examples.
+ +
s s
1
( 1)(0.2 1) (E1)
+ + + +
s s s s
1
( 1)(0.2 1)(0.04 1)(0.008 1) (E5)
+
s s
1
( 1)2
(E8)
Figure 16. MV plots of E5. Set-point change at t = 0; load disturbance of magnitude 1 at t = 10.
O

− +
+ +
−
s
s s
( 1)e
(6 1)(2 1)
s
2
(E11)
+
−
s
e
(5 1)
s
(E17)
−
e s (E21)
−
s
e s
(E24)
−
−
s
e
(5 1)
s
(E33)
Figures 8−15 present a comparison of the proposed method
by introducing a unit step change in the set point and an unit
step change of load disturbance at plant input. It is clear
from Figures 8−15 that the proposed method constantly gives
better closed-loop response for several types of processes.
There are signiﬁcant performance improvements in all the cases
for the disturbance rejection while the set-point performance is
maintained.
Figures 16−18 show the manipulated variable (MV) response
of E5, E8, and E17 as the representative cases. In the beginning
of Figure 16, the sharp spikes in the manipulated variable is due
to the derivative action. As mentioned earlier, TV is a good
measure of the smoothness of an output signal. The values of TV
are also provided in Table 1 for all 33 processes.
Figure 19. Responses of ﬁrst-order with time delay process (e−0.1s
/(s + 1)). Set-point change at t = 0; load disturbance of magnitude 1 at t = 2.
P

The proposed method has been also compared to the
Lubyen14
Relay-Feedback test method for a first-order lag
process with k = τ = 1 and deadtimes of θ = 0.1, 1, and 10. The
parameters of the PI controller settings for the Ziegler−Nichols
(ZN), IMC, and Tyreus−Luyben (TL) were taken from
Lubyen.14
Although the results for the proposed method have
been compared for three different overshoots (around 0.1, 0.3,
and 0.6), only overshoot around 0.3 is shown in Figure 19−21.
For the result of the lag dominant process, that is, θ/τ = 0.1, the
ZN method shows aggressive response while IMC and TL
exhibit similar responses. For the large θ/τ ratio, the closed-
loop response of the ZN and TL methods are very sluggish as
shown in Figure 21. From Figures 19−21, it is clear that the
proposed method consistently gives better performance for a
wide range of θ/τ ratio.
Even though the response is not shown, simulation has been
conducted for the process g(s) = (1/8)e−θs
/(s + 1)3
for
deadtime θ = 0.1, 1, and 10. It clearly shows that the proposed
method has a significant advantage over the Lubyen14
method
for the high-order process as well.
It is important to mention that the overshoot around 0.1
typically gives slower and more robust PI/PID-settings,
whereas a large overshoot around 0.6 gives more aggressive
settings. It is good because a more careful step response results
in more careful tunings settings.
The effect of using the detuning factor F is illustrated in
Figure 22 using a first order process with time delay (E18). As
expected, using F > 1 results in more robust controller settings.
A standard practice (Shamsuzzoha and Lee;8,9
Chen and
Seborg5
) of using a lead-lag set-point filter is recommended to
Figure 20. Responses of first-order with time delay process (e−s
Figure 21. Responses of first-order with time delay process (e−10s
Q

remove the excessive overshoot from the set-point response in
the proposed method if it is required.
8. ANALYSIS
The proposed closed-loop method is based on the IMC-PID
tuning rule given in eq 11. Therefore, it is interesting to
compare the results of both the methods and ensure the
effectiveness of the proposed closed-loop method.
To compare the results of both methods, three typical
process models have been considered:
− +
+ +
−
s
s s
( 1)e
(6 1)(2 1)
s
2
(E11)
+
−
s
e
5 1
s
(E17)
+
−
s
100e
100 1
s
(E22)
E17 and E22 are first-order plus delay processes, similar to
those used to develop the method. E22 is almost an integrating-
with-delay process. The output responses of the proposed
method are similar to the IMC-PID responses which are shown
in Figures 23 and 24. It seems that the response is almost
independent of the value of the overshoot in all three cases.
The comparison of the proposed and IMC-PID method has
been conducted for the high-order process E11, and the result
is shown in Figure 25. The model reduction technique (half
rule, Skogestad7
) has been utilized to obtain the first-order plus
delay process, and the resulting process parameters are
obtained as k = 1, τ = 7, and θ = 5. As expected, the output
result of the proposed method and approximated IMC-PID is
close enough, its agreement with the IMC-PID method is best
for the intermediate overshoot (around 0.3).
The proposed tuning method is based on the IMC-PID
tuning rule given in eq (11) whereas the Set Point Overshoot
method1
is based on the SIMC rule.7
It is important to note
that the performance of both the proposed method and the Set
Point Overshoot method mainly depends upon their original
tuning rule.
The performance of the SIMC and IMC-PID has been
compared and also shown in Figure 25 for the high order
process plus time delay E11. The figure clearly shows that the
IMC-PID tuning rule gives better performance than the SIMC
rule. The same observations have been found for the several
other processes, though it is not shown. It is assumed that the
best controller tuning method results in the best closed-loop
output response. However, since both the methods utilize some
kind of model reduction techniques to convert the PI/PID
controller to the closed-loop method, an approximation error
necessarily occurs. On the basis of the above observation, it is
clear that the proposed method has better performance because
of superior performance in its original IMC-PID tuning rule.
The proposed method has advantage over other PI/PID
tuning method because of its simplicity and consistently better
performance and robustness for a broad class of the processes.
Figure 22. Effect of detuning factor: Responses of first order process with time delay (e−s
/(s + 1)) (E18). Set-point change at t = 0; load disturbance
of magnitude 1 at t = 20.
Figure 23. Responses of first-order with time delay process (e−s
/(5s + 1))
E17. Set-point change at t = 0; load disturbance of magnitude 1 at t = 40.
R

It also has limitation because of the step test experiment in the
set-point change, which might perturb the process even for a
short period of time.
Sometimes in the chemical process industries, the set-point
step test experiment is not desirable due to several reasons. For
example, changing the set point of a column temperature loop
is not recommended because of off-specification of the prod-
ucts. Because of this reason, occasionally we may have limita-
tions in the set-point step test in chemical process industries.
The proposed method is based on the step test in a closed-loop
with proportional controller (Kc0). Suitable selection of initial
controller gain (Kc0) and subsequently number of trials can
significantly reduce the time of the step test experiment and
eventually off-specification in the product. One can stop the
closed-loop experiment just after obtaining the information of
first peak and valley. The required information (overshoot, tp)
can be obtained after the first peak and valley, and then eq 12
can be utilized to obtain parameter b. Along with these lines
one can reduce the off-specification of the product during
controller tuning. It is not recommended to use the large test
signal amplitudes because that will cause off-specification of
product and/or will excite nonlinearity.
9. CONCLUSION
A simple approach has been developed for PI/PID controller
tuning by the closed-loop set-point step experiment using a
P-controller with gain Kc0. The PI/PID-controller settings are
obtained directly from three values from the set-point
experiment:
• overshoot, (Δyp − Δy∞) /Δy∞
• time to reach overshoot (first peak), tp
• relative steady state output change, b = Δy∞/Δys.
If one does not want to wait for the system to reach steady state
and speed up the closed-loop experiment, it is recommended to
use the estimate Δy∞ = 0.45(Δyp + Δyu).
In conclusion, the final tuning formula for the proposed
“Shams closed-loop tuning method” is summarized as
=
K K A F
/
c c0
τ =
−
⎛
⎝
⎜
⎞
⎠
⎟
A
b
b
t F t F
min 0.645
(1 )
, 2.44
I p p
τ =
‐
≥
t if A
b
b
0.14
(1 )
1
D p
where, A = [1.55 (overshoot)2
−2.159 (overshoot) + 1.35]
F is a detuning parameter. F = 1 gives the “fast and robust”
PI/PID settings corresponding to τc = θ. To detune the
response and get more robustness one can select F > 1, but in
special cases one may select F < 1 to speed up the closed-loop
response.
An overshoot of around 0.3 is recommended for the better
response in the proposed method. The initial controller gain
(Kc01) which gives an overshoot around 0.3 in the closed-loop
test can be obtained from
= − +
K K
1.19(1.45(OS ) 2.02(OS ) 1.27)
c c
0 1
2
1 01
The proposed method works well for a wide variety of the
processes typical for process control applications, including the
standard first-order plus delay processes as well as integrating,
high-order, inverse response, unstable, and oscillating process.
■ AUTHOR INFORMATION
Notes
The authors declare no competing financial interest.
■ ACKNOWLEDGMENTS
The author would like to acknowledge the support (Project
Number: IN101012) provided by the Deanship of Scientific
Research at King Fahd University of Petroleum and Minerals
(KFUPM). The research facilities by KFUPM are gratefully
acknowledged. I would also like to thank Prof. William L.
Luyben for his helpful comments.
■ REFERENCES
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Figure 24. Responses of the first-order with time delay process (approx-
imately integrating process with time delay) (100e−s
/(100s + 1)) E22. Set-
point change at t = 0; load disturbance of magnitude 1 at t = 50.
Figure 25. Responses of third-order with positive zero and time delay
process (((−s + 1)e−s
)/((6s + 1)(2s + 1)2
)) E11. Set-point change at
t = 0; load disturbance of magnitude 1 at t = 100.
S

Chemical Process Control −VI (Tuscon, Arizona, Jan. 2001). AIChE
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T

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