Comparative Analysis of a PID Controller using Ziegler- Nichols and Auto Turning Method

Abstract

Overall in any system the Proportional term, the Integral term as well as the Derivative term contribute to
achieving a fast rise time, minimum overshoot, no oscillations and higher stability as well as no steadystate
error. To achieve stability in typical PID systems, it is important to eliminate the steady state errors
associated with such systems. MATLAB M-file was generated to plot responses of the transfer function
with different integrator gains for auto tuning and both Ziegler-Nichols and auto tuning methods were
used to the removal of steady state errors in PID systems. It was observed that both methods can be
adopted for the elimination of steady state error in PID systems, but the drawback associated with
Ziegler-Nichols method is that, it is time consuming and may delay while entering into an unstable region
for the system.