PID LOOP SIMULATOR

Step Input
Process
MANIPULATRED
VALUE Process Gain 0.9
Lag (seconds) 9
Mode Delay (seconds) 4
Open Loop

Closed Loop
Controller
2
Controller Gain 0.35
Integral Time (sec) 4
Derivative Time (sec)

1.8

1.6

1.4

1.2
Set Point / process value

0.8

0.6

0.4

0.2

0
-5 45 95 145 195

Set Point Process Value Manipulated Value

Process Value
Process Value

-
SP - PV
Σ + Set Point
Step Input

2.5

2
manipulated value

1.5

0.5

0
195 245 295

e Manipulated Value
Time Set Point Manipulated Value Process Value Error AccumErr
-10 0 0 0 0 0
-9 0 0 0 0 0
-8 0 0 0 0 0
-7 0 0 0 0 0
-6 0 0 0 0 0
-5 0 0 0 0 0
-4 0 0 0 0 0
-3 0 0 0 0 0
-2 0 0 0 0 0
-1 0 0 0 0 0
0 1 0.6 0 1 1
1 1 0.85 0 1 2
2 1 1.1 0 1 3
3 1 1.35 0 1 4
4 1 1.6 0 1 5
5 1 1.81592793864786 0.05678676892 0.9432132311 5.9432132311
6 1 2.00704553408493 0.131262956142 0.8687370439 6.8119502749
7 1 2.17004657052413 0.221568330351 0.7784316696 7.5903819446
8 1 2.30197251608933 0.326038283429 0.6739617166 8.2643436612
9 1 2.4001759601377 0.443183258586 0.5568167414 8.8211604026
10 1 2.46422273781292 0.568445604717 0.4315543953 9.2527147979
11 1 2.49400458256478 0.698623528165 0.3013764718 9.5540912697
12 1 2.49019940388386 0.830539022564 0.1694609774 9.7235522471
13 1 2.45424709752596 0.961068273759 0.0389317262 9.7624839734
14 1 2.38832174922385 1.087165406863 -0.0871654069 9.6753185665
15 1 2.29519138448082 1.206063761908 -0.2060637619 9.4692548046
16 1 2.17814727558821 1.315277375934 -0.3152773759 9.1539774287
17 1 2.04090683395008 1.412645872025 -0.412645872 8.7413315566
18 1 1.88750948614432 1.496372338358 -0.4963723384 8.2449592183
19 1 1.72220704871561 1.56505459309 -0.5650545931 7.6799046252
20 1 1.5493562238042 1.617699887488 -0.6176998875 7.0622047377
21 1 1.37331236113364 1.653731372152 -0.6537313722 6.4084733655
22 1 1.19832752586893 1.67298469253 -0.6729846925 5.735488673
23 1 1.02845511564732 1.675695087679 -0.6756950877 5.0597935853
24 1 0.86746311415811 1.662475470294 -0.6624754703 4.397318115
25 1 0.718757546469493 1.634286637153 -0.6342866372 3.7630314779
26 1 0.585317535044765 1.59240055738 -0.5924005574 3.1706309205
27 1 0.469643005708972 1.538357874032 -0.538357874 2.6322730465
28 1 0.373715753214275 1.473920847343 -0.4739208473 2.1583521991
29 1 0.298974227928898 1.401023036426 -0.4010230364 1.7573291627
30 1 0.24630207392304 1.321717027925 -0.3217170279 1.4356121348
31 1 0.216030124715094 1.238121514969 -0.238121515 1.1974906198
32 1 0.20795125976116 1.152368991989 -0.152368992 1.0451216278
33 1 0.22134724793204 1.066555265042 -0.066555265 0.9785663628
34 1 0.255026459473277 0.982691885372 0.0173081146 0.9958744774
35 1 0.307371119189777 0.902662500273 0.0973374997 1.0932119771
36 1 0.376392604478363 0.828183983012 0.171816017 1.2650279941
37 1 0.459793164664863 0.760773056446 0.2392269436 1.5042549377
38 1 0.555032354152971 0.701718967113 0.2982810329 1.8025359706
39 1 0.659396431343561 0.652062602165 0.3479373978 2.1504733684
40 1 0.770068977318188 0.612582274639 0.3874177254 2.5378910938
41 1 0.88420103110978 0.58378623722 0.4162137628 2.9541048565
42 1 0.99897911933613 0.565911824668 0.4340881753 3.3881930319
43 1 1.1116896735936 0.55893097396 0.441069026 3.8292620579
44 1 1.21977847517514 0.562561732174 0.4374382678 4.2667003257
45 1 1.32090393871767 0.576285237864 0.4237147621 4.6904150879
46 1 1.41298323921312 0.599367554595 0.4006324454 5.0910475333
47 1 1.4942304950708 0.630885647084 0.3691143529 5.4601618862
48 1 1.56318643808998 0.669756722434 0.3302432776 5.7904051638
49 1 1.61873922377745 0.714770111941 0.2852298881 6.0756350518
50 1 1.6601362570339 0.764620843205 0.2353791568 6.3110142086
51 1 1.686987123689 0.817944047444 0.1820559526 6.4930701612
52 1 1.69925792289291 0.873349362336 0.1266506377 6.6197207988
53 1 1.69725748463164 0.929454525131 0.0705454749 6.6902662737
54 1 1.68161612681768 0.984917402683 0.0150825973 6.705348871
55 1 1.65325775431113 1.038465772409 -0.0384657724 6.6668830986
56 1 1.61336622529929 1.088924248925 -0.0889242489 6.5779588497
57 1 1.5633470068374 1.135237842643 -0.1352378426 6.442721007
58 1 1.50478520986505 1.176491736496 -0.1764917365 6.2662292706
59 1 1.43940113419828 1.2119269724 -0.2119269724 6.0543022982
60 1 1.36900446607176 1.240951847444 -0.2409518474 5.8133504507
61 1 1.2954482556375 1.2631489284 -0.2631489284 5.5502015223
62 1 1.22058376088357 1.27827769949 -0.2782776995 5.2719238228
63 1 1.14621717973152 1.286272959956 -0.28627296 4.9856508629
64 1 1.07406920609063 1.287239182709 -0.2872391827 4.6984116802
65 1 1.00573824127398 1.281441131275 -0.2814411313 4.4169705489
66 1 0.942667972610503 1.269291107683 -0.2692911077 4.1476794412
67 1 0.886119899739952 1.251333267599 -0.2513332676 3.8963461736
68 1 0.837151249510522 1.228225489815 -0.2282254898 3.6681206838
69 1 0.796598576215086 1.200719324551 -0.2007193246 3.4674013592
70 1 0.765067198666194 1.16963856857 -0.1696385686 3.2977627907
71 1 0.742926482765251 1.135857024834 -0.1358570248 3.1619057658
72 1 0.730310841014253 1.100276000738 -0.1002760007 3.0616297651
73 1 0.727126191830704 1.063802082403 -0.0638020824 2.9978276827
74 1 0.733061504216085 1.027325694093 -0.0273256941 2.9705019886
75 1 0.74760494958073 0.991700912613 0.0082990874 2.978801076
76 1 0.770064094217662 0.957726957963 0.042273042 3.021074118
77 1 0.799589494481146 0.926131725039 0.073868275 3.094942393
78 1 0.835201003145019 0.8975576585 0.1024423415 3.1973847345
79 1 0.875816060215644 0.872550205674 0.1274497943 3.3248345288
80 1 0.920279224727179 0.851549012457 0.1484509875 3.4732855163
81 1 0.967392205390405 0.834881956161 0.1651180438 3.6384035602
82 1 1.01594366662949 0.822762039029 0.177237961 3.8156415212
83 1 1.0647381213788 0.815287098185 0.1847129018 4.000354423
84 1 1.11262327154705 0.812442223661 0.1875577763 4.1879121993
85 1 1.1585152195286 0.814104717166 0.1858952828 4.3738074821
86 1 1.20142104755942 0.820051371629 0.1799486284 4.5537561105
87 1 1.24045834391202 0.829967806196 0.1700321938 4.7237883043
88 1 1.27487134361673 0.843459554106 0.1565404459 4.8803287502
 89 1 1.30404344424307 0.860064572185 0.1399354278 5.020264178
90 1 1.32750595193174 0.87926682096 0.120733179 5.1409973571
91 1 1.34494300704483 0.900510553705 0.0994894463 5.2404868034
92 1 1.35619273031378 0.92321495088 0.0767850491 5.3172718525
93 1 1.36124471717789 0.94678874324 0.0532112568 5.3704831092
94 1 1.36023408828074 0.970644481718 0.0293555183 5.3998386275
95 1 1.35343237621528 0.994212134445 0.0057878656 5.4056264931
96 1 1.34123559122593 1.016951720075 -0.0169517201 5.388674773
97 1 1.32414986060946 1.038364721071 -0.0383647211 5.3503100519
98 1 1.3027750772216 1.058004059605 -0.0580040596 5.2923059923
99 1 1.27778702130452 1.075482461298 -0.0754824613 5.216823531
100 1 1.2499184366133 1.090479076909 -0.0904790769 5.1263444541
101 1 1.21993954663591 1.102744278159 -0.1027442782 5.023600176
102 1 1.18863848994806 1.112102590073 -0.1121025901 4.9114975859
103 1 1.15680213605139 1.11845376737 -0.1184537674 4.7930438185
104 1 1.12519771527365 1.121772065595 -0.1217720656 4.6712717529
105 1 1.09455565952362 1.122103797847 -0.1221037978 4.5491679551
106 1 1.06555400612238 1.119563304413 -0.1195633044 4.4296046507
107 1 1.03880466593772 1.114327494549 -0.1143274945 4.3152771561
108 1 1.01484180108571 1.106629146573 -0.1066291466 4.2086480095
109 1 0.994112498047598 1.096749173898 -0.0967491739 4.1118988356
110 1 0.976969860711618 1.085008080334 -0.0850080803 4.0268907553
111 1 0.963668586104356 1.071756837873 -0.0717568379 3.9551339174
112 1 0.954363024885898 1.057367424124 -0.0573674241 3.8977664933
113 1 0.949107670425578 1.042223254839 -0.0422232548 3.8555432385
114 1 0.947859965714908 1.026709739841 -0.0267097398 3.8288334986
115 1 0.950485267637453 1.01120517837 -0.0112051784 3.8176283203
116 1 0.956763764169183 0.996072193163 0.0039278068 3.8215561271
117 1 0.966399102719416 0.981649881761 0.0183501182 3.8399062453
118 1 0.979028457647298 0.968246839481 0.0317531605 3.8716594059
119 1 0.994233742414562 0.956135181752 0.0438648182 3.9155242241
120 1 1.0115536570797 0.945545664913 0.0544543351 3.9699785592
121 1 1.03049625492754 0.936663974786 0.0633360252 4.0333145844
122 1 1.05055171280244 0.929628222167 0.0703717778 4.1036863622
123 1 1.07120499784093 0.924527654533 0.0754723455 4.1791587077
124 1 1.09194813828923 0.921402564397 0.0785974356 4.2577561433
125 1 1.1122918273115 0.920245347528 0.0797546525 4.3375107958
126 1 1.13177611539442 0.921002639253 0.0789973607 4.4165081565
127 1 1.14997997828325 0.92357843475 0.0764215653 4.4929297218
128 1 1.16652958242151 0.92783808004 0.07216192 4.5650916417
129 1 1.18110510763916 0.933613004661 0.0663869953 4.6314786371
130 1 1.19344602634524 0.940706054875 0.0592939451 4.6907725822
131 1 1.2033547787366 0.948897278025 0.051102722 4.7418753042
132 1 1.21069882355873 0.957950004144 0.0420499959 4.7839253
133 1 1.21541108282315 0.96761707031 0.0323829297 4.8163082297
134 1 1.21748883573313 0.977647036164 0.0223529638 4.8386611936
135 1 1.21699115111767 0.987790245455 0.0122097545 4.8508709481
136 1 1.21403497823844 0.997804597981 0.002195402 4.8530663501
137 1 1.20879004234346 1.007460908647 -0.0074609086 4.8456054415
138 1 1.20147271334 1.01654774505 -0.016547745 4.8290576964
139 1 1.19233903311593 1.024875651653 -0.0248756517 4.8041820448
140 1 1.18167709915116 1.032280686739 -0.0322806867 4.771901358
141 1 1.16979900905025 1.038627217432 -0.0386272174 4.7332741406
142 1 1.15703257254074 1.043809937685 -0.0438099377 4.6894642029
143 1 1.14371299448087 1.047755093749 -0.0477550937 4.6417091092
144 1 1.13017472477736 1.05042092086 -0.0504209209 4.5912881883
145 1 1.11674365919668 1.051797313136 -0.0517973131 4.5394908752
146 1 1.10372985931595 1.051904765797 -0.0519047658 4.4875861094
147 1 1.09142094082708 1.050792644196 -0.0507926442 4.4367934652
148 1 1.08007625765938 1.048536847727 -0.0485368477 4.3882566175
149 1 1.06992198554349 1.045236948034 -0.045236948 4.3430196694
150 1 1.06114718334469 1.041012890018 -0.04101289 4.3020067794
151 1 1.05390088440046 1.036001350751 -0.0360013508 4.2660054287
152 1 1.04829024384701 1.030351855527 -0.0303518555 4.2356535731
153 1 1.04437974213459 1.024222751911 -0.0242227519 4.2114308212
154 1 1.04219142019614 1.017777141846 -0.0177771418 4.1936536794
155 1 1.04170609858406 1.011178868763 -0.0111788688 4.1824748106
156 1 1.04286551180313 1.004588651414 -0.0045886514 4.1778861592
157 1 1.04557527045296 0.998160448908 0.0018395511 4.1797257103
158 1 1.04970854798596 0.992038132641 0.0079618674 4.1876875776
159 1 1.05511037614113 0.986352530449 0.0136474696 4.2013350472
160 1 1.06160242360413 0.98121889699 0.018781103 4.2201161502
161 1 1.06898812626022 0.976734852151 0.0232651478 4.2433812981
162 1 1.07705803455662 0.972978816594 0.0270211834 4.2704024815
163 1 1.08559524390695 0.970008960763 0.0299910392 4.3003935207
164 1 1.09438077760702 0.967862670945 0.0321373291 4.3325308498
165 1 1.10319879818031 0.966556523762 0.0334434762 4.365974326
166 1 1.11184153216114 0.966086748893 0.0339132511 4.3998875771
167 1 1.12011380473389 0.966430149233 0.0335698508 4.4334574279
168 1 1.12783709401567 0.96754543825 0.0324545618 4.4659119896
169 1 1.13485302970421 0.969374946165 0.0306250538 4.4965370434
170 1 1.1410262768987 0.971846639939 0.0281533601 4.5246904035
171 1 1.14624676271584 0.974876396936 0.0251236031 4.5498140066
172 1 1.15043122044212 0.978370468669 0.0216295313 4.5714435379
173 1 1.15352404297372 0.982228069171 0.0177719308 4.5892154687
174 1 1.15549745380364 0.9863440223 0.0136559777 4.6028714464
175 1 1.15635101945521 0.990611403589 0.0093885964 4.6122600428
176 1 1.1561105417018 0.994924115016 0.005075885 4.6173359278
177 1 1.15482638086571 0.999179335153 0.0008206648 4.6181565927
178 1 1.15257127271101 1.00327979243 -0.0032797924 4.6148768002
179 1 1.14943771074536 1.007135815527 -0.0071358155 4.6077409847
180 1 1.14553497298403 1.010667121993 -0.010667122 4.5970738627
181 1 1.14098587732112 1.013804313934 -0.0138043139 4.5832695488
182 1 1.13592335256629 1.01649005772 -0.0164900577 4.5667794911
183 1 1.13048691296156 1.018679933011 -0.018679933 4.5480995581
184 1 1.12481912266226 1.020342944755 -0.0203429448 4.5277566133
185 1 1.11906213336501 1.021461699936 -0.0214616999 4.5062949134
186 1 1.11335437315226 1.022032258651 -0.0220322587 4.4842626547
187 1 1.10782745789079 1.022063676315 -0.0220636763 4.4621989784
188 1 1.10260338839459 1.021577260344 -0.0215772603 4.4406217181
189 1 1.09779208728766 1.020605570379 -0.0206055704 4.4200161477
190 1 1.09348931934459 1.01919119596 -0.019191196 4.4008249517
191 1 1.0897750283185 1.017385349353 -0.0173853494 4.3834396024
192 1 1.08671211216607 1.015246314043 -0.015246314 4.3681932883
193 1 1.08434564741967 1.012837791103 -0.0128377911 4.3553554972
194 1 1.08270256250188 1.01022718634 -0.0102271863 4.3451283109
195 1 1.08179174927553 1.007483880742 -0.0074838807 4.3376444301
196 1 1.08160459230026 1.004677525392 -0.0046775254 4.3329669047
197 1 1.08211588632682 1.001876399768 -0.0018763998 4.331090505
198 1 1.08328510467552 0.999145869283 0.0008541307 4.3319446357
199 1 1.08505797445812 0.996546974111 0.0034530259 4.3353976616
200 1 1.08736830921891 0.994135176963 0.005864823 4.3412624846
201 1 1.09014004556505 0.991959292652 0.0080407073 4.349303192
202 1 1.09328942776491 0.990060617047 0.009939383 4.3592425749
203 1 1.09672728311951 0.988472267686 0.0115277323 4.3707703072
204 1 1.10036133112525 0.987218742808 0.0127812572 4.3835515644
205 1 1.10409847098494 0.986315700205 0.0136842998 4.3972358642
206 1 1.10784699479767 0.985769952098 0.0142300479 4.4114659121
207 1 1.11151867765157 0.985579667301 0.0144203327 4.4258862448
208 1 1.11503070071967 0.985734767479 0.0142652325 4.4401514773
209 1 1.11830736916335 0.98621750029 0.0137824997 4.4539339771
210 1 1.12128159301396 0.987003168751 0.0129968312 4.4669308083
211 1 1.12389610605293 0.988060993373 0.0119390066 4.4788698149
212 1 1.12610440486659 0.989355081445 0.0106449186 4.4895147335
213 1 1.12787139753136 0.990845476402 0.0091545236 4.4986692571
214 1 1.12917375861434 0.992489259429 0.0075107406 4.5061799977
215 1 1.1299999941856 0.994241675382 0.0057583246 4.5119383223
216 1 1.13035022717626 0.996057255655 0.0039427443 4.5158810666
217 1 1.13023571954131 0.997890911857 0.0021090881 4.5179901548
218 1 1.12967815317508 0.99969897586 0.0003010241 4.5182911789
219 1 1.12870869627765 1.001440164081 -0.0014401641 4.5168510148
220 1 1.12736688580231 1.003076446506 -0.0030764465 4.5137745683
221 1 1.12569935966739 1.00457380402 -0.004573804 4.5092007643
222 1 1.12375847455606 1.005902860864 -0.0059028609 4.5032979034
223 1 1.12160084634157 1.007039382528 -0.0070393825 4.4962585209
224 1 1.11928585047266 1.007964632923 -0.0079646329 4.488293888
225 1 1.11687411906462 1.008665588218 -0.0086655882 4.4796282998
226 1 1.11442607001665 1.009135008207 -0.0091350082 4.4704932916
227 1 1.1120005012818 1.009371369346 -0.0093713693 4.4611219222
228 1 1.10965328053648 1.009378666694 -0.0093786667 4.4517432555
229 1 1.10743615702604 1.009166094755 -0.0091660948 4.4425771608
230 1 1.1053957184082 1.008747619637 -0.0087476196 4.4338295411
231 1 1.10357251108795 1.008141456989 -0.008141457 4.4256880841
232 1 1.10200033795411 1.0073694718 -0.0073694718 4.4183186123
233 1 1.10070574270563 1.006456517297 -0.0064565173 4.411862095
234 1 1.0997076852117 1.005429730913 -0.0054297309 4.4064323641
235 1 1.09901740769549 1.00431780556 -0.0043178056 4.4021145586
236 1 1.09863848707256 1.003150254281 -0.0031502543 4.3989643043
237 1 1.09856706460762 1.001956685772 -0.0019566858 4.3970076185
238 1 1.09879224026325 1.000766107275 -0.0007661073 4.3962415112
239 1 1.0992966157747 0.999606270058 0.0003937299 4.3966352412
240 1 1.10005696765569 0.998503071065 0.0014969289 4.3981321701
241 1 1.10104502906679 0.997480022436 0.0025199776 4.4006521477
242 1 1.10222835779051 0.996557798548 0.0034422015 4.4040943491
243 1 1.10357126647183 0.995753868018 0.004246132 4.4083404811
244 1 1.10503579079991 0.995082215797 0.0049177842 4.4132582653
245 1 1.10658267141277 0.994553158193 0.0054468418 4.4187051071
246 1 1.10817232597606 0.994173251341 0.0058267487 4.4245318558
247 1 1.10976578907923 0.993945291443 0.0060547086 4.4305865643
248 1 1.11132559926061 0.99386840304 0.006131597 4.4367181613
249 1 1.1128166145561 0.993938209614 0.0060617904 4.4427799517
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