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increasing
Industrial Automation
PID-Controller: influence of parameters
Rise time Overshoot Settling time Steady-State Error
Kp Decrease Increase Small Change Decrease
Ki Decrease Increase Increase Eliminate
Kd Small Change Decrease Decrease Small Change
Empirical formula of Nichols (1942 !)
1.4
1.2
1
0.8
0.6
0.4
0.2
0
step response (open loop)
delay time constant
gain K
0 1 2 3 4 5 6 7 8 9 10
d ~ 0.2, T= 1.5s
1.2 T
Kp = Ti = 2.0 d Td = 0.5 d (Nf = 10)
K d
34/40 2.2 Continuous plants and regulation