Designing a PID Controller Using the Ziegler-Nichols Method

Рет қаралды 158,853

Күн бұрын

In this video we discuss how to use the Ziegler-Nichols method to choose PID controller gains. In addition to discussing the method and providing a Matlab implementation of the procedure, we demonstrate the effectiveness of the resulting controller on a real system.
Topics and time stamps:
0:00 - Introduction.
5:47 - The Ziegler-Nichols procedure.
17:32 - Example 1: Tuning a PID controller for a transfer function plant.
28:03 - Example 2: Tuning a PID controller for a real system (DC motor).
32:07 - Summary and conclusions.
Download the ZieglerNichols.m function at
faculty.washing...
Additional videos in this series:
-Using the Control System Designer in Matlab ( • Using the Control Syst... )
-Understanding and Sketching the Root Locus ( • Understanding and Sket... )
-The Routh-Hurwitz Stability Criterion ( • The Routh-Hurwitz Stab... )
- Modeling a DC Motor with Ordinary Differential Equations (TBD)
-Designing a PID Controller Using the Ziegler-Nichols Method ( • Designing a PID Contro... )
-Designing a PID Controller Using the Root Locus Method ( • Designing a PID Contro... )
Overview of engineering videos and curriculum located at faculty.washing...
All Control Theory videos in a single playlist ( • Control Theory )
#Control #ControlTheory
You can support this channel via Patreon at / christopherwlum . Thank you for your help!

Пікірлер: 207

@ChristopherLum 4 жыл бұрын

In case it is helpful, here are all my Control Theory videos in a single playlist kzfaq.info/sun/PLxdnSsBqCrrF9KOQRB9ByfB0EUMwnLO9o. You can support this channel via Patreon at www.patreon.com/christopherwlum or by clicking the 'THANKS' button underneath the video. Please let me know what you think in the comments. Thanks for watching!

@hammk454 4 жыл бұрын

I have a question

@user-dw6hh5np8z 3 жыл бұрын

i wanna know how to get the Ku value. i found it only by trying a lot.

@cheer6352 2 жыл бұрын

บรรยายดี เข้าใจง่ายดีครับ

@slowbung5973 2 жыл бұрын

สุดยอดมากครับ

@nikkrause5546 5 жыл бұрын

I appreciated the DC motor example. It was a helpful visualization.

@alanlee4326 5 жыл бұрын

AE511 - The DC motor demonstration was superb and the use of pop ups to show the full table gives a great detailed view.

@ChristopherLum 5 жыл бұрын

Alan, great, I'm glad it was helpful. It was fun to get the system working to film this.

@darylfishback-duran3580 5 жыл бұрын

I've seen Ziegler-Nichols previously but this is a much better / straight-forward explanation

@OTNAYITPES 3 жыл бұрын

1:46 "allow you to do this in iterative online fashion" This guy really knows what I'm doing in this year,,,

@shreyaankrao968 Жыл бұрын

Wonderful explanation! One of the best and simplest explanation I have seen on youtube. Kudos to you sir!!!

@grampysmagic3327 3 жыл бұрын

Thank you for the enlightening discussion. I was looking for a little guidance on tuning my PID for temperature control. Can't wait to get to the lab in the morning... Thanks again!

@ChristopherLum 3 жыл бұрын

I'm glad it was helpful. There are several related videos on the channel. Please feel free to check them out and I would love to hear what you think in the comments. Thanks for watching!

@jellybeans6533 Жыл бұрын

This could be a wonderful lecture and I sincerely appreciate the time and effort Mr. Lum has put into making this video. However, it would be so much better if he transcribed his notes onto the board BEFORE he started talking. Not having to frantically scribble while frantically talking and obstructing a view of the material would be a big improvement. Even better, would be for him to narrate over Power Point versions of his notes. Aside from that, he explained the material quite well.

@DanielHagfeldt 2 жыл бұрын

Had to pause in the middle of the video to write. I seldom writes comments on KZfaq, but this explanation was so good it deserves a lot of praise! Thank you, you are much better than my teacher in system theory! Now i am a subscriber to your channel :)

@ChristopherLum 2 жыл бұрын

Hi Daniel, Thanks for the kind words, I'm glad you enjoyed the video. If the find the these videos to be helpful, I hope you'll consider supporting the channel via Patreon at www.patreon.com/christopherwlum. Given your interest in this topic, I'd love to have you a as a Patron as I'm able to talk/interact personally with all Patrons. Thanks for watching! -Chris

@kaisemuw7074 5 жыл бұрын

AE 511. I liked the lab example of the DC motor. It gave a good real life reference.

@petermpeters 5 жыл бұрын

first PID tutorial i can understand, ty.

@boburuncle5854 2 ай бұрын

Awesome! Exactly what I needed to know.

@alim6583 Жыл бұрын

thanks. you hang it on my brain compeletly

@chaddrobertson5805 2 жыл бұрын

Your lessons are brilliant - thank you very much!

@ChristopherLum 2 жыл бұрын

Hi Chadd, Thanks for the kind words, I'm glad you enjoyed the video. If the find the these videos to be helpful, I hope you'll consider supporting the channel via Patreon at www.patreon.com/christopherwlum. Given your interest in this topic, I'd love to have you a as a Patron as I'm able to talk/interact personally with all Patrons. Thanks for watching! -Chris

@osamaawad6947 Жыл бұрын

Great explanation. Thanks for sharing the video.

@ChristopherLum Жыл бұрын

Hi Osama, Thanks for the kind words, I'm glad you enjoyed the video. If you find these videos helpful, I hope you'll consider supporting the channel via Patreon at www.patreon.com/christopherwlum or via the 'Thanks' button underneath the video. Given your interest in this topic, I'd love to have you a as a Patron as I'm able to talk/interact personally with all Patrons. I can also answer any questions, provide code, notes, downloads, etc. on Patreon. Thanks for watching! -Chris

@shawnkhoo1949 2 жыл бұрын

This is a fucking great lecture. Although the pace is fast, it's at the suitable speed for us to capture what you're saying. I need a lecturer like you in my college life.

@ChristopherLum 2 жыл бұрын

Hi Shawn, Thanks for the kind words, I'm glad you enjoyed the video. If the find the these videos to be helpful, I hope you'll consider supporting the channel via Patreon at www.patreon.com/christopherwlum. Given your interest in this topic, I'd love to have you a as a Patron as I'm able to talk/interact personally with all Patrons. Thanks for watching! -Chris

@abdulazizmolwood5618 2 жыл бұрын

great work , thank u sir

@ChristopherLum 2 жыл бұрын

Hi, Thanks for the kind words, I'm glad you enjoyed the video. If the find the these videos to be helpful, I hope you'll consider supporting the channel via Patreon at www.patreon.com/christopherwlum. Given your interest in this topic, I'd love to have you a as a Patron as I'm able to talk/interact personally with all Patrons. Thanks for watching! -Chris

@wes1588 5 жыл бұрын

Great explanation of Ziegler Nichols...keep banging on the can of beans, you'll open it eventually haha!

@rays14ful 2 жыл бұрын

Very nice. Have to watch your other videos.

@ChristopherLum 2 жыл бұрын

@user-tf1ic1ii2b Жыл бұрын

Thank you very much sir !

@iaroslavz2644 9 ай бұрын

Thank you very much. It was very nice and clear explained.

@weijunzhang6855 Жыл бұрын

Thank you, Dr Lum, for the informative, easy-to-understand video. One quick comment, at timestamp 29:52, It looks like the value of period(TU) of the oscillation is not around 0.96s from the zoomed-in oscillation degree plot. For me, it looks closer to 0.4s.

@swapnilnagar4710 5 жыл бұрын

That was quite good explaination of the method!

@ChristopherLum 5 жыл бұрын

I'm glad it was helpful thanks for watching!

@helvetiaresearch9973 3 жыл бұрын

Thanks very much for this excellent Video. THANKS!

@ChristopherLum 3 жыл бұрын

I'm glad it was helpful. There are several related videos on the channel. Please feel free to check them out and I would love to hear what you think in the comments. Thanks for watching!

@chriscordingley4686 2 жыл бұрын

Nicely done. Thumbs-up

@ChristopherLum 2 жыл бұрын

Hi Chris, Thanks for the kind words, I'm glad you enjoyed the video. If you find these videos helpful, I hope you'll consider supporting the channel via Patreon at www.patreon.com/christopherwlum or via the 'Thanks' button underneath the video. Given your interest in this topic, I'd love to have you a as a Patron as I'm able to talk/interact personally with all Patrons. Thanks for watching! -Chris

@nconrad4504 3 жыл бұрын

Really good explanation! Thank you so much! Your videos help a lot!

@ChristopherLum 3 жыл бұрын

I'm glad it was helpful. There are several related videos on the channel. Please feel free to check them out and I would love to hear what you think in the comments. Thanks for watching!

@brianhumphreys5161 5 жыл бұрын

AE511: The practical examples are really helpful, looking at output traces in MATLAB/Simulink doesn't always give the best comprehension

@razimuhammad6824 3 жыл бұрын

good lecture. thank you a lot for your sharing, it is helpful

@danielguevara8815 4 жыл бұрын

My hope for good lectures are restored

@ChristopherLum 4 жыл бұрын

I'm glad it was helpful thanks for watching!

@pcbworks 2 жыл бұрын

Great explanation!

@AJ-fo3hp 2 жыл бұрын

Yes, I am very much happy. Thank you I am subscribing your channel.

@ChristopherLum 2 жыл бұрын

Hi AJ, Thanks for the kind words, I'm glad you enjoyed the video. If you find these videos helpful, I hope you'll consider supporting the channel via Patreon at www.patreon.com/christopherwlum. Given your interest in this topic, I'd love to have you a as a Patron as I'm able to talk/interact personally with all Patrons. Thanks for watching! -Chris

@osamaawad6947 Жыл бұрын

Really a great explanation. Thanks for sharing the video.

@diegolopezpereyra9721 Жыл бұрын

te amo, saludos desde méxico

@arashtahmasebi5165 3 жыл бұрын

Your motivation is fascinating! Good luck

@inigoelias5690 2 жыл бұрын

This video was so useful. Thanks Sir Lum!

@ChristopherLum 2 жыл бұрын

Hi Inigo, Thanks for the kind words, I'm glad you enjoyed the video. If you find these videos helpful, I hope you'll consider supporting the channel via Patreon at www.patreon.com/christopherwlum. Given your interest in this topic, I'd love to have you a as a Patron as I'm able to talk/interact personally with all Patrons. Thanks for watching! -Chris

@ganeshmailecture7922 3 жыл бұрын

Practical explanation! unique from other tutorials!

@ChristopherLum 3 жыл бұрын

I'm glad it was helpful. There are several related videos on the channel. Please feel free to check them out and I would love to hear what you think in the comments. Thanks for watching!

@saurabhtalele1537 4 жыл бұрын

Yes that is something initiative sir ,you always come with practical aspects 😊😊😊

@sherifamr4281 4 жыл бұрын

Great Explanation, Thanks

@ChristopherLum 4 жыл бұрын

I'm glad it was helpful thanks for watching

@krystoflis7157 5 жыл бұрын

Great Examples Chris especially the DC Motor but I was hoping to see the "feed the baby" DC Motor experiment.

@ChristopherLum 5 жыл бұрын

Haha, I forgot that you probably remember that from a few years back. I seem to remember that your system worked great.

@reinermunch5159 4 жыл бұрын

thanks a lot. Works great on my software PID controller

@juliabraga3587 2 жыл бұрын

Amazing video !!!

@ChristopherLum 2 жыл бұрын

@dhananjaywarthe2695 3 жыл бұрын

Thanks you, sir for very helpful information.

@nikafif2211 Жыл бұрын

thank man, really helpful !

@ChristopherLum Жыл бұрын

Hi, Thanks for the kind words, I'm glad you enjoyed the video. If you find these videos helpful, I hope you'll consider supporting the channel via Patreon at www.patreon.com/christopherwlum or via the 'Thanks' button underneath the video. Given your interest in this topic, I'd love to have you a as a Patron as I'm able to talk/interact personally with all Patrons. I can also answer any questions, provide code, notes, downloads, etc. on Patreon. Thanks for watching! -Chris

@nikafif2211 Жыл бұрын

@@ChristopherLum sure thing

@shafie484 3 жыл бұрын

This was very helpful, thank you for taking the time . Great quality

@ChristopherLum 3 жыл бұрын

I'm glad it was helpful. There are several related videos on the channel. Please feel free to check them out and I would love to hear what you think in the comments. Thanks for watching!

@MCSGproject 4 жыл бұрын

Crystal clear. thanks

@ChristopherLum 4 жыл бұрын

I'm glad it was helpful. I have another video showing how to design a PID controller using another technique (root locus). Please feel free to check it out if you are interested. Thanks for watching!

@georgigeorgiev271 3 жыл бұрын

Great explanation, thanks!!

@knighttime19 4 жыл бұрын

Very informative, big thanks.

@adrianophilo391 4 жыл бұрын

Chris, wonderful explanation.

@ChristopherLum 4 жыл бұрын

I'm glad it was helpful thanks for watching!

@AbdellahDerradj 3 ай бұрын

Thank you

@lxzhang4911 4 жыл бұрын

Thank you so much for the tremendous video and the DC Motor example.

@ChristopherLum 4 жыл бұрын

I'm glad it was helpful. There are several related videos on the channel. Please feel free to check them out and I would love to hear what you think in the comments. Thanks for watching!

@lxzhang4911 4 жыл бұрын

@@ChristopherLum I have watched almost all your videos in this channel about control theory. They are such great videos. Now I'm waiting for the TBDs :)

@lxzhang4911 4 жыл бұрын

@@ChristopherLum May I ask if you have planed to publish some videos about adaptive control and fuzzy logic?

@user-sw5ee6gj3h 3 ай бұрын

Hello, Thanks for this nice video, Can you please clear one of my doubt, You mentioned that At ku there will be Neutral stability, but for a system like y_doubledot + ydot=cos(t) the response will be unbounded, So I think instead of saying at ku means neutral stability it will be more good to say that ultimate gain is the one for which the system poles coincide with the Jomega axis and depending upon the input the system may attend neutral stability. Correct me if I'm wrong anywhere. Hoping for a respsone.

@munchlax9715 4 жыл бұрын

Thank you. This helped a lot.

@ChristopherLum 4 жыл бұрын

I'm glad it was helpful thanks for watching!

@nesedemiralpisit2323 4 жыл бұрын

Great video and simple explanation. Thank you for your afford.

@ChristopherLum 4 жыл бұрын

I'm glad it was helpful thanks for watching

@ankitdoifode6053 3 жыл бұрын

Great explanation

@tomaspelcl7960 5 жыл бұрын

Great content, thanks! Also looking forward to the video about PID using Root Locus Method! :)

@ChristopherLum 5 жыл бұрын

Tomas, thanks for watching. I'm working on this video right now. I hope to have it posted in the next 24 hours so please stand by.

@nghiapham1632 3 жыл бұрын

thanks a lot

@petrusbosman4264 2 жыл бұрын

I implemented this method with Visuino and also auto tuning , and managed to fit this code on a Arduino Nano. i have also wrote the code for ESP32.

@alexandrarodrigues1923 4 жыл бұрын

thank you so much!

@titox7754 4 жыл бұрын

amaaaaaaaaazing. Just thanks.

@ChristopherLum 4 жыл бұрын

I'm glad it was helpful. There are other similar videos on the channel, please feel free to check them out and let me know what you think. Thanks for watching!

@callm3pc 4 жыл бұрын

Spot on👌🏾thank you

@ChristopherLum 4 жыл бұрын

I'm glad it was helpful. There are other similar videos on the channel please feel free to check them out and let me know what you think in the comments. Thanks for watching!

@sethwhittington28 Жыл бұрын

AE511: It looks like this technique could be used when you don't have a model of the system which is awesome! I suppose that means you could deploy this technique with any black box where technical documentation of the plant may not be available.

@tonysyaifurrahman94 3 ай бұрын

What"s your use book for reference PID ziegler nichlos this videos ?

@solarmonitors.r.o.3053 2 жыл бұрын

Hi, well explained. A minor note: @ time 20:03, the denominator in the comment should start with s^3, not s^2. Rest is ok :-).

@fritschalterheijden5132 3 жыл бұрын

Great explanation! What I was wondering about is the use of the ideal algorithm with the results for Kc, Ti and Td. Should this not be the series algorithm, since it was more common in the days of Ziegler and Nichols? I have not been able to find any confirmation on this. Maybe you can shed your light on it?

@linkandplay5749 Ай бұрын

thanks

@sebastianjimbo730 5 жыл бұрын

Thanks for your amazing LECTURE =) Gracias

@kalapita226 5 жыл бұрын

Thank you Sir

@vishnuchandran243 4 жыл бұрын

thanku sir, your video may help me designing PI controller for bidirectional buck boost charger.

@aashirwadtomar1324 4 жыл бұрын

Nicely explained good 👍

@arunmk8349 3 жыл бұрын

thanks for the video sir

@edwardsanchez2331 5 жыл бұрын

ae511, good lecture on implementing the PID controller

@SebastianMedina Жыл бұрын

Hello. Is possible to obtain the period, TU (the 1.9), at marginally stable, using equations or formula? and not measuring the period from a simualtion? thanks

@fizzahmajeed9734 5 жыл бұрын

best video thanks

@eyosiyasa1969 3 жыл бұрын

Thank you!

@sethwhittington28 Жыл бұрын

AE511: @27:08 your "No overshoot" curve looks like it has some overshoot...?

@hipsterkennyrogers909 Жыл бұрын

Point of confusion for me @20:06 on line 10 of the algebraic expansion you have "s^2 + 6*s^2 + 11*s + 6"... should not that first term be s^3 ??

@anitham5436 2 жыл бұрын

your explanations are very clear but could you tel me how you got Simulink model in this case.thank you

@ChristopherLum 2 жыл бұрын

Hi Anitha, Thanks for reaching out, I'm glad you enjoyed the video. Unfortunately I'm unable to respond to questions on KZfaq due to the sheer volume of inquiries that I receive. That being said, I hope you'll consider supporting the channel via Patreon at www.patreon.com/christopherwlum as I'll be able to answer questions there. Given your interest in the topic, I'd love to have you as a Patron as I'm able to talk/interact personally with Patrons. Thanks for watching! -Chris

@haimeth5565 7 ай бұрын

how i can use PID and having a sin wave reference instead of a step

@sitisasmita6057 Жыл бұрын

Anyone knows the values of Kp, Ki, and Kd to got steady error and overshoot under 5% ?

@murathanbakr1268 2 жыл бұрын

good vid

@ChristopherLum 2 жыл бұрын

Hi Murathan, Thanks for the kind words, I'm glad you enjoyed the video. If you find these videos helpful, I hope you'll consider supporting the channel via Patreon at www.patreon.com/christopherwlum or via the 'Thanks' button underneath the video. Given your interest in this topic, I'd love to have you a as a Patron as I'm able to talk/interact personally with all Patrons. Thanks for watching! -Chris

@user-rq3oq2sw7s 3 жыл бұрын

Thanks for the great explanation Sir And, I want to report some error at the tabel 11:32, about the KD value on "some overshoot" and "no overshoot" cmiiw

@ahungryflyer Жыл бұрын

AE511: In industry or academia if there is a situation that would be well suited to Ziegler-Nichols where this is no mathematical model for a system but the response can be measured, is the typical approach to create an approximate mathematical model to enable one of the higher fidelity PID design techniques you mentioned?

@ChristopherLum Жыл бұрын

Correct, the typical workflow is to get the model first which allows the linear analysis tools to be brought to bear. Ziegler Nichols is if you are too lazy to get the model

@arpanbajpai1219 3 ай бұрын

How to find Tu without oscillations?

@jitendranagda4687 Жыл бұрын

Sir How can we implement this in PFC boost converter?

@nuraidabasir3348 4 жыл бұрын

i want to ask,the symbol of plant G(s) in diagram...what the name in library?

@manyishoideroni4523 4 жыл бұрын

Transfer function

@justinhendrick3743 5 жыл бұрын

Wait. You mean you're not supposed to bash the can with the handle? How do can openers work? /s

@ChristopherLum 5 жыл бұрын

👍

@philipcasey8361 Жыл бұрын

AE511: The example with the wheel in the lab was a cool practical application. What were you using to read that data into MATLAB and plot in real time? Thanks!

@hariharanramamurthy9946 3 жыл бұрын

please upload frequency response analysis

@laithhameedalazawy 4 жыл бұрын

Great explanation man. Please can you give us the reference that you have used to obtain the required information, especially the pid table Thanks in advance

@annsj9283 4 жыл бұрын

Hi Christopher Lum! How do you know what family of PID controller in terms of P, PI or PID controller to choose depending on a system. What do you base your choice on?

@NightmareWalkthroughs 4 жыл бұрын

At 20:16 a text-comment was highlighted, showing the expansion "s^2 + 6*s^2 + 11*s + 6". I know it was commented out anyway, but it was meant to be cubic with the first term, right?

@thorntontarr2894 2 жыл бұрын

thank you I spotted that and checked comments because surely others saw that too. You did, well done.

@sindujapolana4254 Жыл бұрын

What if we don’t know transfer function of system

@selamhendrix5252 5 жыл бұрын

Thank you for the lecture and the examples with an existing model and no model/experimental data. For cases where we don't have a model, is the process of obtaining K just a simple trial and error? or is there any way of narrowing down to some range of possible K values?

@ChristopherLum 5 жыл бұрын

Unfortunately without a model, trial an error is about as best as you can hope for unless you have some physical intuition/insight about the system. If you don't have a model then perhaps a simulation/approximation would suffice?

@yingkaisong4258 2 жыл бұрын

Why nuetral stability can achieve? I mean if you only consider proportional control, then you will always get a steady state error, right?

@ChristopherLum 2 жыл бұрын

Hi Yingkai, Thanks for reaching out, I'm glad you enjoyed the video. Unfortunately I'm unable to respond to questions on KZfaq due to the sheer volume of inquiries that I receive. That being said, I hope you'll consider supporting the channel via Patreon at www.patreon.com/christopherwlum as I'll be able to answer questions there. Given your interest in the topic, I'd love to have you as a Patron as I'm able to talk/interact personally with Patrons. Thanks for watching! -Chris

@dheerajkammili3638 4 жыл бұрын

Are Ku and Pu values same for all the controllers like P, Pi and Pid or different for different controllers

@gitarplayer13 5 жыл бұрын

AE511. Is there a good rule of thumb when picking a "low" Kp at step 1? Or do you need to have some knowledge of your system dynamics? Also when you showed the Matlab plot of all of the different responses plotted together, how come the "no overshoot" configuration still seemed to have some overshoot?

@ChristopherLum 5 жыл бұрын

Brad, that is a great question. "Low" is a completely subjective adjective and depends on your system. The "No Overshoot" control type also is not guaranteed to provide no overshoot for all systems. This is one of the major failings of Ziegler-Nichols. It is a sort of back-of-the-envelope approximation. If you need to guarantee no overshoot then you need to do something more mathematically defensible like root locus.

@gitarplayer13 5 жыл бұрын

@@ChristopherLum Got it, thank you!

@saidaljadidi3755 4 жыл бұрын

could please support to design PID controller to control level in spherical tank

@hasbikzlhan7679 2 жыл бұрын

Thanks Sir. In my Matlab 2021a, it is not used [KP, KI, KD] = ZIEGLERNICHOLS(KU, TU). How can use this command?

@ChristopherLum 2 жыл бұрын

Hi, Thanks for reaching out, I'm glad you enjoyed the video. Unfortunately I'm unable to respond to questions on KZfaq due to the sheer volume of inquiries that I receive. That being said, I hope you'll consider supporting the channel via Patreon at www.patreon.com/christopherwlum as I'll be able to answer questions there. Given your interest in the topic, I'd love to have you as a Patron as I'm able to talk/interact personally with Patrons. Thanks for watching! -Chris

@mutazmohammad7264 4 жыл бұрын

Thank you so much for all your efforts! it is really helpful. But Matlab says that "ZieglerNichols" is unrecognized function . How can I solve this problem?