PID Controller Tuning

Automatic and interactive tuning of PID gains

Control System Toolbox™ software offers several tools and commands for tuning PID controllers. To select the best tool for your application, see Choosing a PID Controller Design Tool.

For information about tuning PID controllers in Simulink^® models, see Model-Based PID Controller Tuning (Simulink Control Design).

Apps

PID Tuner

Tune PID controllers

Live Editor Tasks

Tune PID Controller

Tune PID Controller for LTI plant in the Live Editor

Functions

`pidtune`	PID tuning algorithm for linear plant model
`pidtuneOptions`	Define options for `pidtune` function
`getPIDLoopResponse`	Closed-loop and open-loop responses of systems with PID controllers
`pidTuner`	Open PID Tuner for PID tuning

Topics

PID Tuning Basics

Choosing a PID Controller Design Tool
Control System Toolbox software provides several tools for designing PID controllers.
Designing PID Controllers with PID Tuner
PID Tuner lets you perform automatic, interactive tuning of PID controllers.
PID Controller Types for Tuning
Control System Toolbox PID tuning tools can generate and tune many PID and 2-DOF PID controller types.

Interactive PID Tuning

PID Controller Design for Fast Reference Tracking
Tune a PID Controller to meet rise-time and settling-time requirements.
Tune PID Controller to Favor Reference Tracking or Disturbance Rejection (PID Tuner)
PID tuning is a tradeoff between reference-tracking and disturbance-rejection performance. This example shows how to tune to favor one or the other when using PID Tuner.
PID Controller Design in the Live Editor
Use the Tune PID Controller task to generate code in the Live Editor for designing a PID controller for a linear plant model.
Analyze Design in PID Tuner
PID Tuner provides system response plots and other tools for tuning PID controllers.

Command-Line PID Tuning

PID Controller Design at the Command Line
Programmatically tune a PID controller using the pidtune command.
Tune PID Controller to Favor Reference Tracking or Disturbance Rejection (Command Line)
Use the tuning options of the pidtune command to favor reference tracking or disturbance rejection at the command line.
Designing Cascade Control System with PI Controllers
Design two PI controllers for a cascade control system using the pidtune command.

PID Controller Design from Measured Response Data

Interactively Estimate Plant Parameters from Response Data
If you have System Identification Toolbox™ software, you can use PID Tuner to estimate a linear plant model based on response data measured from your system. PID Tuner then tunes a PID controller for the resulting model.
Tune PID Controller from Measured Plant Data in Live Editor
Use Live Editor Tasks to generate code for tuning a PID controller based on measured plant response.
System Identification for PID Control

System identification is the process of estimating a dynamic representation of the system you want to control, based on the system response to a known excitation.
- Input/Output Data for Identification
- Choosing Identified Plant Structure
- Preprocess Data

Two-Degree-of-Freedom PID Controllers

Tune 2-DOF PID Controller (PID Tuner)
Design a two-degree-of-freedom (2-DOF) PID controller, and compare the controller performance with that of a 1-DOF PID controller.
Tune 2-DOF PID Controller (Command Line)
Design a two-degree-of-freedom (2-DOF) PID controller, and compare the controller performance with that of a 1-DOF PID controller.

Tuning in Simulink

PID Controller Tuning in Simulink
You can tune the gains of PID Controller blocks to achieve a robust design with the desired response time using PID Tuner.
Design PID Controller Using Simulated I/O Data
This example shows how to tune a PID controller for plants that cannot be linearized.
Design PID Controller Using Estimated Frequency Response
When your plant cannot be linearized, you can estimate a plant model using frequency response estimation and import the plant model into PID Tuner.

PID Algorithm

PID Tuning Algorithm
MathWorks^® algorithm for tuning PID controllers tunes the PID gains to achieve a good balance between performance and robustness.

Featured Examples

Design PID Controller for Disturbance Rejection Using PID Tuner

Design a PI controller with good disturbance rejection performance using the PID Tuner app. The example also shows how to design an ISA-PID controller for both good disturbance rejection and good reference tracking.

Open Live Script

Temperature Control in Heat Exchanger

Design feedback and feedforward compensators to regulate the temperature of a chemical reactor through a heat exchanger.

Open Live Script

Control of Processes with Long Dead Time: The Smith Predictor

The limitations of PI control for processes with long dead time and illustrates the benefits of a control strategy called "Smith Predictor."

Open Script