Self-Regulating Process

Process Variable or
Controller Output (%)
%PV
Kp = %PV / %CO
Self-regulating process gain (%/%)

%CO

%PV

0.63%PV
%CO

p p Time (seconds)
dead process
time time constant

Lambda (closed loop time constant) is defined in terms of a Lambda factor (f):
= f p
Self-Regulating Process

Self-Regulation Process Gain:

% PV
Kp =
%CO

Controller Gain
Ti
Kc =
K p ( f p + p )

Controller Integral Time

Ti = p

Near Integrating Gain Approximation

Kp
Ki =
p
 Integrating Process

Process Variable or
Controller Output (%)
%PV
Ki = { [ %PV2 / t2 ] [ %PV1 / t1 ] } / %CO

Integrating process gain (%/sec/%)

%CO

%CO

ramp rate is ramp rate is

%PV1 / t1 %PV2 / t2

Time (seconds)
p
dead
time

Lambda (closed loop arrest time) is defined in terms of a Lambda factor (f):
= f / Ki
 Integrating Process

Integrating Process Gain:

% PV2 / t2 % PV1 / t1
Ki =
%CO

Controller Gain
Ti
Kc =
K i [( f / K i ) + p ]2

Controller Integral Time

Ti = 2 ( f / K i ) + p

The above tuning automatically insures the following inequality is satisfied

to prevent slow rolling oscillations from too low of a gain or integral time.
4
K c Ti >
Ki