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An Open PID Controller Tuning Contest
Listed below are measurements from a temperature control system. The first column are the controller output (CO) measurements. The second column are the process variable (PV) measurements (temperature). The sampling period is 1 second. The dead time (or called time delay or lag) is 1 second. Each row of measurements are recorded at the same time. We want to use Allen Bradley Logix5550 Independent PID to control this temperature process. Please find the values for the three PID parameters Kp, Ki, and Kd. You can select the data and then paste them to, e.g., MS notepad or MS Excel.
BESTune's tuning results are given here.
0 52.29
100 52.12
100 52.26
100 52.68
100 53.32
100 54.19
100 55.38
100 56.41
71.53 57.93
51.43 59.03
26.12 59.94
0 61.16
0 61.7
0 62.25
0 62.44
0 62.47
0 62.06
0 61.62
0 61.24
0 61.13
8.19 60.7
16.5 60.31
45.81 59.56
52.95 59.39
58.43 59.38
54.06 59.6
47.04 59.87
33.81 60.22
8.07 60.77
0 61.02
0 61.07
0 61.11
0.5 60.87
10.41 60.44
13.95 60.21
23.62 59.92
35.43 59.64
48.29 59.41
51.82 59.42
43.37 59.73
36.88 59.97
20.76 60.35
14.47 60.47
6.39 60.56
0 60.62
3.11 60.43
5.66 60.26
15.33 59.97
29.21 59.64
43.34 59.37
63.88 59.02
71.59 59.02
55.21 59.57
48.98 59.88
38.11 60.18
22.23 60.53
0 60.98
0 61.24
0 61.34
0 61.11
5.26 60.73
20.98 60.18
33.67 59.79
50.38 59.42
51.89 59.46
59.26 59.42
51.41 59.71
36.37 60.13
24.77 60.41
0 60.96
0 61.14
0 61.06
0 61.02
1.84 60.75
15.99 60.25
20 60.04
38.83 59.6
45.61 59.47
57.97 59.3
55.66 59.48
39.38 59.96
26.07 60.32
13.33 60.58
13.06 60.5
5.89 60.53
1.18 60.53
1.03 60.42
23.29 59.84
43.64 59.35
59.11 59.09
61.84 59.19
58.32 59.45
48.75 59.81
37.47 60.14
30.29 60.31
9.18 60.72
0 60.94
0 60.89
0 61.03
0.37 60.83
100 60.67
100 60.71
100 60.74
100 61.33
100 61.75
100 62.75
100 63.81
100 64.71
100 65.51
100 66.49
100 67.54
100 68.47
100 69.34
100 70.32
100 71.14
100 71.59
100 72.43
100 73.33
100 73.75
100 74.68
100 74.97
100 75.88
100 76.54
100 77.24
100 77.5
88.65 78.31
87.63 78.81
95.82 78.97
89.14 79.35
72.79 79.9
61.63 80.24
51.22 80.46
49.92 80.42
45.79 80.41
34.6 80.56
33.4 80.49
46.06 80.11
72.83 79.46
90.53 79.1
100 78.88
100 78.8
100 78.98
96.72 79.29
93.23 79.56
83.68 79.9
81.43 80.02
67.45 80.33
51.88 80.64
47.77 80.63
39.51 80.68
39.99 80.53
57.09 80.03
61.57 79.85
65.02 79.79
66.23 79.79
70.87 79.74
80.43 79.58
92.95 79.38
100 79.09
98.22 79.27
90.09 79.63
91.63 79.73
63.99 80.39
41.66 80.88
38.81 80.83
29.66 80.84
41.67 80.41
51.46 80.05
67.82 79.64
84.48 79.3
94.14 79.19
100 79.19
100 79.33
99.59 79.51
86.05 79.93
75.78 80.22
63.64 80.48
58.94 80.51
58.87 80.41
24.49 81.04
21.48 80.98
26.53 80.65
51.13 79.94
83.98 79.15
96.81 78.94
96.19 79.15
100 79.12
100 79.11
94.88 79.4
91.84 79.64
79.3 80.02
76.95 80.12
62.17 80.42
53.63 80.56
32.04 80.92
44.8 80.51
37.8 80.49
29.63 80.55
57.32 79.86
66.95 79.58
75.86 79.44
0 79.35
0 79.26
0 79.01
0 78.66
0 78
0 77.23
0 76.46
0 75.55
0 74.66
0 73.33
0 72.08
0 71.34
0 69.99
0 68.82
0 68.02
0 67.26
0 66.41
0 65.73
0 64.76
0 63.95
0 63.19
0 62.68
0 62.19
0 61.7
4.96 61.16
25.09 60.41
37.15 59.95
52.36 59.57
52.86 59.59
53.42 59.67
49.97 59.83
41.25 60.07
27.85 60.38
2.8 60.88
0 61.29
0 61.45
0 61.37
0 61.1
0 60.88
5.62 60.54
13.15 60.22
27.75 59.81
36.73 59.6
55.04 59.26
61.37 59.24
60.95 59.4
55.99 59.66
35.59 60.21
20.49 60.56
0 61.11
0 61.41
0 61.7
0 61.52
0.67 61.15
0.73 60.85
0 60.64
1.79 60.44
18.7 59.95
34.37 59.56
55.35 59.15
70.64 58.94
76.01 59.02
68.1 59.41
46.25 60.06
16.93 60.77
3.66 60.99
0 61.22
0 61.36
0.49 61.08
0 60.82
0 60.62
3.01 60.39
18.53 59.94
37.55 59.48
51.09 59.24
67.95 59
57.18 59.41
49.62 59.76
26.65 60.35
21.46 60.47
3.59 60.77
0 60.91
0 61.08
4.26 60.79
0 60.78
9.88 60.4
18.64 60.07
29.37 59.78
38.34 59.59
44.82 59.51
54.97 59.39
54.18 59.52
41.31 59.91
25.84 60.32
14.36 60.56
0 60.86
2.06 60.68
0 60.82
0.45 60.66
8.07 60.33