PID LOOP SIMULATOR

Process
Gain (K)
Time Constant (T)
Delay (L)

2
10
15

+
Controller

Output

Controller
C + 1/Is + Ds

Set Point

Gain (C)
Integral (I)
Derivative (D)

0.27
50
0.8

(All times in seconds)

PID Loop Simulation

1.2

SetPoint / Process Value

1
0.8

0.6
0.4

0.2

-0.2
Time (sec)

http://www.engineers-excel.com

190

180

170

160

150

140

130

120

110

100

90

80

70

60

50

40

30

20

10

-10

IMULATOR

Output

Process
K/(1+Ts) * e^(-Ls)

Process Value

Process Value

Set Point

Output

1.2
1

0.6
0.4

Output

0.8

0.2

300

290

280

270

260

250

240

230

220

210

200

190

0
-0.2

SP
-10
-9
-8
-7
-6
-5
-4
-3
-2
-1
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40

OP
0
0
0
0
0
0
0
0
0
0
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1

0
0
0
0
0
0
0
0
0
0
0
1.09
0.31
0.33
0.35
0.37
0.39
0.41
0.43
0.45
0.47
0.49
0.51
0.53
0.55
0.57
0.59
0.383875
0.522897
0.526501
0.529305
0.531309
0.532514
0.532918
0.532523
0.531328
0.529334
0.526539
0.522944
0.51855
0.513356
0.507362
0.500567
0.539884
0.515676
0.514104
0.512548
0.51104
0.509611
0.508294
0.50712

PV
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0.207454
0.246713
0.286043
0.325436
0.364887
0.40439
0.443941
0.483534
0.523166
0.562833
0.602532
0.642259
0.682012
0.721789
0.761587
0.801404
0.798202
0.821763
0.843768
0.864213
0.883094
0.900407
0.91615
0.930319
0.942913

Error
0
0
0
0
0
0
0
0
0
0
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
0.792546
0.753287
0.713957
0.674564
0.635113
0.59561
0.556059
0.516466
0.476834
0.437167
0.397468
0.357741
0.317988
0.278211
0.238413
0.198596
0.201798
0.178237
0.156232
0.135787
0.116906
0.099593
0.08385
0.069681
0.057087

AccumErr
0
0
0
0
0
0
0
0
0
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
16.79255
17.54583
18.25979
18.93435
19.56947
20.16508
20.72114
21.2376
21.71444
22.1516
22.54907
22.90681
23.2248
23.50301
23.74142
23.94002
24.14182
24.32005
24.47629
24.61207
24.72898
24.82857
24.91242
24.9821
25.03919

41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92

1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1

0.506122
0.505332
0.504782
0.504502
0.504527
0.504887
0.505614
0.506741
0.498568
0.502029
0.501742
0.501511
0.501331
0.501192
0.501086
0.501001
0.500926
0.500846
0.500748
0.500615
0.500429
0.500174
0.499828
0.49937
0.500797
0.500132
0.500109
0.500085
0.50006
0.500034
0.500007
0.49998
0.499954
0.499932
0.499917
0.499914
0.499926
0.499961
0.500024
0.500125
0.499852
0.499958
0.499956
0.499956
0.499957
0.499959
0.499963
0.499968
0.499973
0.499979
0.499984
0.499988

0.953928
0.963364
0.971217
0.977487
0.982171
0.985269
0.986779
0.995628
0.999027
1.001804
1.004021
1.005739
1.007022
1.007932
1.008533
1.008886
1.009055
1.009104
1.009094
1.00909
1.009155
1.009353
1.009746
1.008546
1.008119
1.007678
1.007235
1.006799
1.006379
1.005979
1.005601
1.005244
1.004906
1.004581
1.004262
1.003938
1.003597
1.003222
1.002795
1.002681
1.002451
1.002238
1.002042
1.001859
1.001688
1.001529
1.00138
1.00124
1.001109
1.000987
1.000877
1.000779

0.046072
0.036636
0.028783
0.022513
0.017829
0.014731
0.013221
0.004372
0.000973
-0.0018
-0.00402
-0.00574
-0.00702
-0.00793
-0.00853
-0.00889
-0.00906
-0.0091
-0.00909
-0.00909
-0.00916
-0.00935
-0.00975
-0.00855
-0.00812
-0.00768
-0.00723
-0.0068
-0.00638
-0.00598
-0.0056
-0.00524
-0.00491
-0.00458
-0.00426
-0.00394
-0.0036
-0.00322
-0.0028
-0.00268
-0.00245
-0.00224
-0.00204
-0.00186
-0.00169
-0.00153
-0.00138
-0.00124
-0.00111
-0.00099
-0.00088
-0.00078

25.08526
25.1219
25.15068
25.17319
25.19102
25.20575
25.21898
25.22335
25.22432
25.22252
25.2185
25.21276
25.20573
25.1978
25.18927
25.18038
25.17133
25.16222
25.15313
25.14404
25.13488
25.12553
25.11579
25.10724
25.09912
25.09144
25.08421
25.07741
25.07103
25.06505
25.05945
25.05421
25.0493
25.04472
25.04046
25.03652
25.03292
25.0297
25.02691
25.02422
25.02177
25.01954
25.01749
25.01564
25.01395
25.01242
25.01104
25.0098
25.00869
25.0077
25.00683
25.00605

93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144

1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1

0.499988
0.499984
0.499972
0.49995
0.500001
0.499985
0.499987
0.499988
0.49999
0.499991
0.499992
0.499992
0.499992
0.499992
0.499991
0.499991
0.499991
0.499993
0.499996
0.500001
0.499993
0.499996
0.499996
0.499996
0.499997
0.499997
0.499997
0.499997
0.499998
0.499998
0.499998
0.499999
0.499999
0.499999
0.499999
0.499998
0.499999
0.499999
0.499999
0.499999
0.499999
0.499999
0.499999
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5

1.000698
1.000636
1.000599
1.000514
1.000457
1.000405
1.000358
1.000316
1.000278
1.000245
1.000215
1.00019
1.000168
1.000149
1.000132
1.000118
1.000103
1.000088
1.00007
1.000064
1.000055
1.000047
1.00004
1.000035
1.00003
1.000025
1.000021
1.000018
1.000014
1.000011
1.000009
1.000006
1.000004
1.000003
1.000003
1.000001
1
1
0.999999
0.999998
0.999998
0.999998
0.999997
0.999997
0.999997
0.999997
0.999997
0.999997
0.999997
0.999997
0.999997
0.999997

-0.0007
-0.00064
-0.0006
-0.00051
-0.00046
-0.00041
-0.00036
-0.00032
-0.00028
-0.00024
-0.00022
-0.00019
-0.00017
-0.00015
-0.00013
-0.00012
-0.0001
-8.8E-05
-7E-05
-6.4E-05
-5.5E-05
-4.7E-05
-4E-05
-3.5E-05
-3E-05
-2.5E-05
-2.1E-05
-1.8E-05
-1.4E-05
-1.1E-05
-8.6E-06
-6.1E-06
-4.2E-06
-3E-06
-3E-06
-1.3E-06
-4.6E-07
2.94E-07
9.44E-07
1.5E-06
1.98E-06
2.37E-06
2.67E-06
2.89E-06
3.02E-06
3.07E-06
3.03E-06
2.95E-06
2.87E-06
2.86E-06
3.04E-06
2.87E-06

25.00535
25.00471
25.00411
25.0036
25.00314
25.00274
25.00238
25.00206
25.00178
25.00154
25.00132
25.00113
25.00097
25.00082
25.00069
25.00057
25.00046
25.00038
25.00031
25.00024
25.00019
25.00014
25.0001
25.00007
25.00004
25.00001
24.99999
24.99997
24.99996
24.99995
24.99994
24.99993
24.99993
24.99992
24.99992
24.99992
24.99992
24.99992
24.99992
24.99992
24.99992
24.99993
24.99993
24.99993
24.99993
24.99994
24.99994
24.99994
24.99995
24.99995
24.99995
24.99996

145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196

1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1

0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5

0.999997
0.999997
0.999997
0.999998
0.999998
0.999998
0.999998
0.999998
0.999998
0.999998
0.999998
0.999998
0.999998
0.999999
0.999999
0.999999
0.999999
0.999999
0.999999
0.999999
0.999999
0.999999
0.999999
0.999999
0.999999
0.999999
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1

2.8E-06
2.71E-06
2.61E-06
2.5E-06
2.37E-06
2.25E-06
2.12E-06
2E-06
1.88E-06
1.78E-06
1.68E-06
1.6E-06
1.51E-06
1.42E-06
1.28E-06
1.21E-06
1.12E-06
1.03E-06
9.57E-07
8.84E-07
8.17E-07
7.55E-07
6.97E-07
6.44E-07
5.93E-07
5.44E-07
4.96E-07
4.49E-07
4.06E-07
3.68E-07
3.42E-07
3.08E-07
2.8E-07
2.54E-07
2.3E-07
2.08E-07
1.87E-07
1.68E-07
1.51E-07
1.35E-07
1.2E-07
1.07E-07
9.53E-08
8.53E-08
7.66E-08
6.84E-08
5.92E-08
5.26E-08
4.62E-08
4.04E-08
3.52E-08
3.06E-08

24.99996
24.99996
24.99996
24.99997
24.99997
24.99997
24.99997
24.99997
24.99998
24.99998
24.99998
24.99998
24.99998
24.99998
24.99999
24.99999
24.99999
24.99999
24.99999
24.99999
24.99999
24.99999
24.99999
24.99999
24.99999
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25

197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248

1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1

0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5

1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1

2.65E-08
2.29E-08
1.97E-08
1.7E-08
1.46E-08
1.24E-08
1.05E-08
8.66E-09
6.97E-09
5.53E-09
4.64E-09
3.57E-09
2.72E-09
2E-09
1.39E-09
8.79E-10
4.43E-10
7.06E-11
-2.5E-10
-5.2E-10
-7.5E-10
-9.4E-10
-1.1E-09
-1.2E-09
-1.2E-09
-1.2E-09
-1.3E-09
-1.3E-09
-1.3E-09
-1.3E-09
-1.2E-09
-1.2E-09
-1.2E-09
-1.1E-09
-1.1E-09
-1E-09
-9.9E-10
-9.3E-10
-8.8E-10
-8.3E-10
-7.9E-10
-7.5E-10
-6.9E-10
-6.5E-10
-6.1E-10
-5.7E-10
-5.3E-10
-4.9E-10
-4.5E-10
-4.2E-10
-3.8E-10
-3.5E-10

25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25

249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300

1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1

0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5

1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1

-3.3E-10
-3E-10
-2.8E-10
-2.5E-10
-2.3E-10
-2.1E-10
-1.9E-10
-1.8E-10
-1.6E-10
-1.5E-10
-1.3E-10
-1.2E-10
-1.1E-10
-9.8E-11
-8.9E-11
-8E-11
-7.2E-11
-6.5E-11
-5.8E-11
-5.2E-11
-4.6E-11
-4.2E-11
-3.7E-11
-3.3E-11
-2.9E-11
-2.6E-11
-2.3E-11
-2E-11
-1.8E-11
-1.6E-11
-1.4E-11
-1.2E-11
-1E-11
-8.9E-12
-7.7E-12
-6.7E-12
-5.7E-12
-4.8E-12
-4.1E-12
-3.4E-12
-2.8E-12
-2.3E-12
-1.8E-12
-1.4E-12
-1.1E-12
-8.4E-13
-6E-13
-4E-13
-2.2E-13
-6.6E-14
6.55E-14
1.73E-13

25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25
25