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Software description

PIDDESIGN is a software for simple step-response-based-identification, fast PID controller tuning and effective quality test using simulation of control.

If you use the software PIDDESIGN for research purposes, we would be happy to hear about it. Please let us know at

BibTeX entry for citation:


author = {Oravec, J. and Bako\v{s}ov\'a, M.},

title = {{PIDDESIGN - Software for PID Control Education}},

booktitle = {IFAC Conference on Advances in PID Control},

url = {},

year = {2012},


Software localization

The software is recently localized into following languages:

  • English

  • Slovak

Software compatibility

The software has been created in MATLAB-Simulink programming environment and uses its graphical user interface to make software more interactive. Therefore it can be run in MATLAB v7 - Simulink v6.5 and newer.

Software installation

To install the software in successful way, go through the following seven steps:

Step 1: Download the software package from the link:

Step 2: Unzip the package into the required home-folder (e.g.: MATLAB/toolbox/piddesign)

Step 3: Run MATLAB

Step 4: In the MATLAB menu use File/Set Path...

Step 5: Use button [Add with Subfolders...]

Step 6: Find out the chosen home-folder

Step 7: Use button [Save] to save the changes.

Alternatively, you can use tbxmanager to install PIDDESIGN by typing:

tbxmanager install piddesign

and to update mup you can type:

tbxmanager update piddesign

Software initialization

The software can be run in MATLAB comand window by typing: "piddesign" Then the main window of software is opened.

Software termination

It is recommended to shut down the software using the possibility "Shut Down" in the "Setup" menu.

Ilustrative Examples

Example 1.1

PID controller tuning for controlled system described by the known transfer function

Using the button [Controller Tuning] of the main window, the new window for controlled system parameters setting will be opened. The aperiodic process can be described using transfer function by Strejc (1). Damped periodic process can be described using the associated parameters of the transfer function (2).

G = K/(Ts + 1)^nexp( - D*s) (1)

G_pe = K/(T_pe^2s + 2ksi_peT_pes + 1)exp( - D_pes) (2)

Inputs of the transfer function by Strejc:

  • n - order

  • K - gain

  • T - time constant

  • D - time delay

Inputs of the damped periodic transfer function:

  • K - gain

  • T_pe - time constant

  • ksi_pe - damping coefficient - values from [0;1]

  • D_pe - time delay

Using the button [Controller Tuning] opens the new window for PID controller tuning. The required type of the PID controller can be choosen using the associated radiobutton:

  • P

  • PI

  • PID

  • PD

and choosing the radiobutton of the required class of controller tuning methods:

  • Experimental methods

  • Analytical methods

Using the popup menu enables to choose from the list of the available methods.

Using the button [Controller tuning] the controller with the set properties will be designed. New window for control performance check using simulation of control will be opened. In the upper left part of the window the calculated parameters of the designed controller (3) are shown.

Gr = (Z_Rs + Z_R/T_I + Z_RT_D*s^2)/s (3)

PID Contorller Parameters

Input & Output parameters:

  • Z_R - proportional gain

  • T_I - integral time constant

  • T_D - derivative time constant

  • T_R - antiwindup parameter of the integral part

  • T_D - filter of the derivative part

In the upper right part are shown the parameters of the controlled system (4).

G = NUM/DENexp( - Ds) (4)

Process Model

Input & Output parameters:

  • NUM - numerator of the controlled system transfer function

  • DEN - denominator of the controlled system transfer function

  • D - time delay of the controlled system

In the middle left part of are shown the parameters for the setpoint tracking.

Setpoint w(t)

Input parameters:

  • W_Initial - initial value of set point

  • W_Final - final value of set point

  • W_Step_Change - time of the step change

In the middle right part of are shown the parameters for the disturbance rejection.

Disturbance r(t)

Input parameters:

  • R_Initial - initial value of disturbance
  • R_Final - final value of disturbance
  • R_Step_Change - time of the step change

In the upper right part are shown

Simulation parameters

Input parameters:

  • Control_Precision - tolerance of the set point

  • Sim_Time - simulation time

  • U_Min_Boundary - lower constraint of the control input

  • U_Max_Boundary - upper constraint of the control input

Using the button [Step response] the simulation of control will be started.

Then the various figures are opened:

  • poles and zeros of the closed loop transfer function

  • control performance of the controlled output

  • associated control input generated by the tuned controller

And the new window with various calculated quality criteria. The background color indicates the relative property of the value. The green background color indicates suitable value, the yellow color medium and red color is used for relatively high value. This color-based decisions have just informative significance.

Quality Criteria

Output parameters:

  • Settling_Time - settling time

  • Max_Overshoot - maximal overshoot [%]

  • IAE

  • ISE

  • ITAE

  • ITSE



  • ISE_u

  • ISE_du

  • ISE_de

Using the button [Back] the previous window will be returned.