Theory

There are three methods to determine the RR and Td which is:

1. Graphical Tangent Method
2. Reformulated Tangent Method
3. Discrete Tangent Method
Tuning is required to keep the performance under best condition. There are two types of tuning
rule which is:
1. Ziegler-Nichols Tuning Rule
2. Cohen-Coon Tuning Rule
These methods will be discussed further in this section.
1.
Graphical Tangent Method
This method is used to determine RR and graphically get Td. A process curve graph is
used to locate Td and RR.
Td is determined by the intersection of the baseline of PV1 and the tangent line. It is

the time distance between the start of the open loop to the foot base of the triangle. The
value is determined directly using a ruler on the graph.

In Tangent Method, the t is determined by the distance between the intersection of the
baseline of PV1 and tangent line and the intersection of the baseline of PV2 and tangent
line. It is consider as the time constant of the process, Tc. The measurement is also taken
by using a ruler on the graph.
The response rate, RR is obtained by:
PV
t
RR=
MV

PV =PV F PV I
MV =MV FMV I
2.

Reformulated Tangent Method

Reformulated Tangent Method uses a trigonometric calculation to determine the value

of RR. The axis of a and b is used as a scaling factor to calculate RR.

Dead time, Td and time constant, Tc is:
T d=T d ( length by ruler ) b

T c =T c ( lengthby ruler ) b
Whereby,
increment of time on the axis scale
b=
length of each interval
The response rate, RR is:
RR=

3.

tan / MV
a /b
Discrete Tangent Method

In Discrete Tangent Method, numerical and data are being used instead of graphs.
It requires numerical calculation that can be acquired from the data table. Figure 2.3 is
the graph that is plotted from the data table.

Response rate, RR is obtained by:

PV 1PV 1
MV
RR=
2 h MV
Time constant process, TC is obtained by:
T C =2 h[

( PV F PV I )
( PV 1PV 1 )

Dead time, Td is obtained by:

T D =T 12 h[

PV 1PV i
]
PV 1PV 1

Tuning Rules
1.

Ziegler-Nichols Tuning Rule

This method uses the calculated value of RR and Td, from the methods mention above, to obtain
the value of P, I and D. The performance test is in terms of set point and load disturbances.

Mode
P

100 RR T D

PI

111.1 RR T D

3.33 T D

PID

83.3 RR T D

2 T D

Table 1.1: PID Tunes

2.

Cohen-Coon Tuning Rule

0.5 T D

This method uses the calculated value of RR, TD, and TC. The performance test is in terms
of load disturbances.
Mode
P

PI

PID

100
) RR T D

1+
11
100

1.35 [1+ ]
5

) RR T D

11
3.33(
)T D
11
1+
5
1+

5
2.5(
) T D
3
1+
5

Table 1.2 PID Tunes

Whereby , uncontrollability parameter, is

=

TD
TC

100
(
) RR T D

1+
3

1+

0.37 T D

1+
5