About PIDTune
PID Tuner uses the IMC (Internal Model Control) method to calculate PID tuning parameters. I’ve tried a lot of tuning methods over the years and have found this one to be the best. The app is written for the iPad to show...
PID Tuner uses the IMC (Internal Model Control) method to calculate PID tuning parameters. I’ve tried a lot of tuning methods over the years and have found this one to be the best. The app is written for the iPad to show all the information on one page. The program calculates: PID Parameters: Controller Gain (Kc) Integral Time (Ti) Derivative Time (Td) For process types First Order with Dead Time (FO) Second Order with Dead Time (SO) Integrating or Long Time Constant with Dead Time (I) For controller types Parallel (non-interacting) c(s) = Kc (1 + 1/(Ti s) + Td s) Series (interacting) c(s) = Kc (Ti s + 1)/(Ti s)(Td s + 1) For controller modes PID PI You can either enter the process gain (Kp) directly or enter the changes in the controlled virable (CV) and manipulated variable (MV). Tuning aggression is adjusted using the slider to set the closed loop time constant to the process time constant ratio (λ/Ƭ). The closed loop time constant (λ) is the time the controller is expected to reach set point (plus the dead time (ϴ)). Setting the closed loop time constant to process time constant ratio (λ/Ƭ) to 1.0 will make the MV change to its final value and allow the process to settle out to the setpoint. Setting (λ/Ƭ) greater than 1.0 will give a slower responce. Setting (λ/Ƭ) less than 1.0 will cause the MV to make a larger change and then reduce to its final value. Tight tuning would be to set the close loop time constant to the dead time. Use the Integrating Process type (Ƭ = ∞) for both integrating processes or processes with long time constants. These processes use the maximum slope as the process gain. Tuning aggression for these processes is determined by setting the closed loop time constant to the dead time ratio (λ/ϴ). Once again, setting the closed loop time constat to the dead time gives tight control. References: “Probably the test simple PID tuning rules in the World,” Sigurd Skogestad, Jounal of Process Control, July 3, 2001 “Consider the generalized IMC-PID method for PID controller tuning of time-delay processes,” Y. Lee, S. Park, M. Lee, Hydrocarbon Processing, January 2006
Version History Fixed a plot scaling problem in the iPad simulator 3.6 09/25/2024 Fixed a plot scaling problem in the simulator 3.5 01/16/2024 Minor bug fixes and performance enhancements. 3.4 09/28/2023 Fixed a bug in integrating processes. 3.3 06/30/2022 Added checks for min dead time for tuning equations and minimum lambda / tau. 3.2 02/02/2022 Fixed an interface bug in the iPad version. 3.1 09/25/2021 Fixed scrolling when using an iPad. 3.0 09/04/2021 Fixed a bug in the loop/process simulator for the series for of the PID controller. 2.8 08/06/2021 Minor tweeks. 2.7 12/08/2020 Minor fixed and cosmetic changes 2.6 05/04/2019 Fixed bug that caused a crash when entering delta time for integrating processes. 2.5 10/25/2018 Bug Fix for display layout. 2.4 08/28/2018 Bug fixes and updated to latest version of iOS 2.3 04/22/2018 Added limit to PI tuning aggression to prevent unstability. 2.2 04/05/2016 Bug fix when simulating series form of PID 2.1 11/19/2015 PIDTune is now a universal app. A process and controller simulator has been added to test the calculated tuning parameters. 2.0 11/13/2015 1.0 10/09/2015
Previous Versions
Here you can find the changelog of PIDTune since it was posted on our website on 2025-05-02 16:15:17.
The latest version is 3.6 and it was updated on 2026-07-01 02:03:31. See below the changes in each version.
PIDTune version 3.6
Updated At: 2026-07-01
Changes: Version History Fixed a plot scaling problem in the iPad simulator 3.6 09/25/2024 Fixed a plot scaling problem in the simulator 3.5 01/16/2024 Minor bug fixes and performance enhancements. 3.4 09/28/2023 Fixed a bug in integrating processes. 3.3 06/30/2022 Added checks for min dead time for tuning equations and minimum lambda / tau. 3.2 02/02/2022 Fixed an interface bug in the iPad version. 3.1 09/25/2021 Fixed scrolling when using an iPad. 3.0 09/04/2021 Fixed a bug in the loop/process simulator for the series for of the PID controller. 2.8 08/06/2021 Minor tweeks. 2.7 12/08/2020 Minor fixed and cosmetic changes 2.6 05/04/2019 Fixed bug that caused a crash when entering delta time for integrating processes. 2.5 10/25/2018 Bug Fix for display layout. 2.4 08/28/2018 Bug fixes and updated to latest version of iOS 2.3 04/22/2018 Added limit to PI tuning aggression to prevent unstability. 2.2 04/05/2016 Bug fix when simulating series form of PID 2.1 11/19/2015 PIDTune is now a universal app. A process and controller simulator has been added to test the calculated tuning parameters. 2.0 11/13/2015 1.0 10/09/2015
PIDTune version 3.6
Updated At: 2024-09-25
Changes: Sep 25, 2024
Version 3.6
Fixed a plot scaling problem in the iPad simulator
PIDTune version 3.6
Updated At: 2024-09-25
Changes: Fixed a plot scaling problem in the iPad simulator
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