🎛️

PID Control Loop Tuner

FOPDT process · Discrete positional PID · Step-response tuning

❌

Unstable / Oscillating

Overshoot 139% with sustained oscillation. Loop gain is too high — reduce Kp/Ki.

🎛️ PID Controller Gains

Proportional gain (Kp)2

Integral gain (Ki)0.3 1/s

Derivative gain (Kd)0.5 s

🌡️ FOPDT Process Model

Process gain (K)1.5

Time constant (τ)40 s

Dead time (L)8 s

Models thermal lag of e.g. a chilled-water cooling coil: τ is the dominant lag, L the transport/measurement delay.

📊 Step-Response Metrics

Overshoot

139.1 %

Settling time (±2%)

> 300 s

Steady-state error

-1.186

Peak PV

2.391

Rise time (10→90%)

6 s

Final PV

2.186

Model: FOPDT process model · positional PID · Ziegler–Nichols tuning reference. Discrete Euler integration (dt = 1 s, 300 s horizon) of dPV/dt = (−PV + K·u(t−L))/τ. Actuator clamped to [−5, 5] with conditional-integration anti-windup. Setpoint is a unit step (0 → 1); PV starts at 0.

Setpoint vs Process Variable · Unit Step Response · Linear Scale

Process Variable (PV)

Setpoint (SP)