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Vol. 7, Issue 9, September 2020

DOI 10.17148/IARJSET.2020.7901

A study on Teaching Method of

Control Engineering by Using Python Based PID
Dong Hwa Kim1, Hinsermu Alemayehu2
Professor, EPCE, Adama Science and Technology University, Adama, Ethiopia1
Header of Office, EPCE, Adama Science and Technology University, Adama, Ethiopia2

Abstract: PID controller is so popular control engineering and it has been using in the industrial fields widely. So, it is
important to have a lecture for design and theory. This paper deals with design and lecture skill through implementation
of PID controller by using Python. So far, many universities and research centres have been using MATLAB to teach
and learn in control engineering. However, MATLAB is commercial S/W and expensive. Therefore, developing
country’s universities have a very difficult because of no license. Currently, many are interesting in Python because it is
open source and huge communities. It is a good tool to teach and learn as teacher and students. This paper provides on
how we can teach and learn control engineering through implementation of PID controller.

Keywords: Python, PID Control, Control, Control Lecture.

I. INTRODUCTION

A Proportional – Integral – Derivative (PID) controller has been widely used in the most industrial processes despite
continual advances in control theory. This is not only due to the simple structure which is theoretically easy to understand
but also to the fact that the tuning technique provides adequate performance in the vast majority of applications.
However, almost lecture is doing for theory and the simplified design method due to the limited S/W and design language
like commercial S/W, MATLAB.
Currently, many engineers and scientists have been interesting in Python for control engineering. Python S/W was
released in 1991 and have many communities to research. MATLAB S/W also has many communities for themselves.
However, there are too much differences between two communities, and licenses. Also, a lot of research models and
materials are written in MATLAB so far. However, MATLAB is a programming language which requires an expensive
license and they do not open their theory code.
Many researchers in and outside universities can’t afford this licensed S/W, which means that models are not available
for students although lots of people would like to work with these MATLAB of models. Computer Aided Control System
Design (CACSD) environments play a key role in teaching Control Systems in our universities. Since the late 1990,
MATLAB and Simulink have been chosen as the reference CACSD for control system design. Lectures and laboratories
take advantage of all the features in design and simulation offered by these products. On the other side, many universities
and few companies have been purchasing these expensive licenses related to the different toolboxes required for a
complete design environment. In addition, universities have to buy this package licenses of MATLAB products for their
education even under course and applications in applied research of graduate course.
There are free alternatives downloadable S/W on the web, but nothing has the same quality as the cited products. However,
currently Python is glowing up as one of the most promising tools since 1991. This S/W presents well a new approach to
control systems based on Python and a set of additional functions for controlling real applications. In order to apply rapid
prototyping methods in control design, we have to introduce this tool into lecture course from under course intensively.
We can lecture well material represented by the Python Control System toolbox, which is initially developed at Caltech
by Richard Murray. Most important things are that this S/W is free and there are many communities. Also, it is easy to
build control theory with this language.
Most of the commands implemented in the Python Control toolbox are related to the book from Richard Murray and Carl
Astrom “Feedback Systems” [4, 6, 7]. We can present and teach many control activities that can be performed using the
Python packages and the Python Control toolbox. Also, Python S/W can be well presented under Windows, Mac and
Linux.
Unfortunately, some professor or so do not still know on how they can approach and teach because of the traditional
conception, which is MATLAB is the best and friendly from a long time ago.
This paper’s aim is to provide on how we can teach control system in Python in Under course and graduate course.
I hope this material can be used usefully in the University and teachers.

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II. PROBLEMS OF THE TRADITIONAL TOOL IN LECTURE

A. Importance of Lecture for PID controller

The basic theory of PID controller is so simple but it has been using since a long time ago. However, it cannot effectively
control such a complicated or fast running system such as motor control system, since the response of a plant depends on
only the three parameters (P, I, and D) and its gain has to be manually tuned by trial and error in the industrial world.
Most of the PID tuning rules developed in the past years use the conventional method such as frequency-response
methods [4]. This method needs a highly technical experience to apply since they provide simple tuning formulae to
determine the PID controller parameters. In case of the Ziegler-Nichols rule tuning technique, it often leads to a rather
oscillatory response to set-point changes as the following system [4, 7]:
(a) Plant which the system has non-linearities such as directionally dependent actuator and plant dynamics
(b) System that various uncertainties, such as modeling error and external disturbances, are involved in the system.
As a result of these difficulties, the PID controllers are rarely tuned optimally and the engineers need to research for a
highly tuning technology. It means we have to teach application skill by case by case for students.
To improve the performance of PID controller tuning for processes with changing dynamic properties, several tuning
strategies for PID controller have been proposed, for example, automatic tuning PID, adaptive PID, and intelligent
controller. These controllers have recalibration features to cope with little a priori knowledge and significant changes in
the process dynamics [4].
However, the PID controller parameters are still computed using the classic tuning formulae and, as noted above, these
do not provide good control performance in all situations, for example, for unstable systems with time delay. De Paor
used the Modified Smith Predictors to cope with unstable and integrating process with long time delay.
In order to provide consistent, reliable, safe and optimal solution to industrial control problems as described above, many
approaches for PID control schemes and tuning techniques have been presented. These schemes generally consist of four
basic parts: model estimation, desired system specifications, optimal tuning mechanism and an online PID controller.
The model estimation provides a parametric/non-parametric model for the process. The desired system specifications
include a set of control requirements of the process [6]. An intelligent tuning method is also very important in PID
controller for robust control with disturbance rejection function in control loop [21-33].
Therefore, we have to teach design and application method by step by step for case by case using S/W.

B. The problem of the traditional lecture

After developing MATLAB, so many engineer and developer in engineering, they have been using this tool for their
work. For that, they have to have license as package even they do not use many times. Also, personally, they cannot
obtain tool because of high price.
The advanced country and big companies can support for employee but developing country’s university cannot buy
license because MATLAB TOOLBOX is too much expense. Personally, it is impossible to buy, which is 3,000$ in 2020
for only Deep learning tool. Python is free as far as connecting Internet.
By making the first step in solving this problem, we must understand on how we can convert from MATLAB to Python.
This conversion is done due to the fact that Python is open-source software which makes the model free to use for
everyone.
Also, MATLAB and Python syntax (Table 1) is generally the same, which can make conversion easier. It means everyone
convert the previous model designed by them to Python and ready to use it. In July 20, 2020, Python 3.8.5 was released
after Python 1.4 on 25 October 1996. Therefore, they modified many problems and issues. Now, it is time we have to
introduce into lecture and engineering area.
Some report that even they use version 1.0, it was found that the overall running time for version 1.0 was much larger
than the original model in MATLAB. This is due to Python executing notebooks inside of one masterscript notebook,
which is not very fast with Python’s data structure. To solve this problem, Python model is created. Version 2.0 makes
more effective use of Python’s data structure and this has led to running times almost twice as fast as the original model
in MATLAB.
Another benefit of conversion is that both model versions in Python are more user-friendly. Headers are possible in
Python and by defining the data paths in the beginning of every masterscript. The plots created in Python are the same as
in MATLAB and a more precise source and sink region can be defined at further research or be redefined.

III. PYTHON VS. MATLAB IN CONTROL ENGINEERING

A. The differences between Python and MATLAB in Data

Basically, Python is designed as a general-purpose language, not a numerical computing language like MATLAB.
So, its philosophy and basic types are much more general focus.

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TABLE I, PYTHON VS. MATLAB [2, 3].

Comparison Python MATLAB

Numeric arrays and data type (A high- Math and Matrix oriented languages (MATLAB
Definition level general-purpose programming is the high-performance language for technical
language) computing)
Python can be used for web MATLAB allows matrix manipulations, plotting
Usage programming (Zope, Google App of functions and data, a creation of user interfaces
Engine, and much more)
Extensive support libraries. MATLAB allows you to test algorithms
Benefit Open source and community immediately without the act of compiling,
development.
High-performance linear algebra, Improved performance requires installing,
Performance graphics, and statistics. Optimized compiling, validating, and adopting developer-
library calls oriented add-ons
It was developed by the Python MATLAB basic version is in the market since the
Academics
software foundation in the year 1991. 1970s.
It consists of an extensive standard The standard library does not contain generic
Library
library programming functionality.
Real-time support Personalized email and phone support No personalized real-time support
Embedded Code No comprehensive, Automatic code MATLAB code generates readable, portable c
Generation generation for embedded systems. and c++ code.

It means everyone can understand to code and there are no arrays or matrices. Python is needed to address by the NumPy
package, which provides multidimensional arrays. With NumPy, numerical computing can be calculated.
They are numbers: real, float, and complex; strings; lists and tuples, which are two types of ordered sequences;
dictionaries, which are “associative arrays” or mappings; and sets, which are unordered collections of unique items.
The following list presents the types in more detail. The side notes next to each type show some code examples.
- Numbers are scalars. So, they are zero dimensional and do not have some shapes. This is quite different from
MATLAB, which are 1-by-1 matrices. Example: real_number = 1, float number = 1.0, complex number = 1 + 2j.
- Strings can be written with either single or double quotes and we cannot modify them. Instead of that, we can
create new strings based on the contents of an existing one. Example: s1 = 'a string', s2 = "also a string", s3 = """A
(possibly) multiline string""", s3[0] returns 'A', s2[:4] returns 'also'.

Fig. 1 Comparison example of Python and MATLAB

- Lists are similar to cell arrays in MATLAB except they are only one dimensional. They can contain anything,
including other lists. Even though they can contain items of different types at the same time. Example: word list = ['the',
'quick', 'brown', 'fox'], number list = [0, 1, 1, 2, 3, 5, 8].
- Tuples are lists’ cousins. They are also ordered sequences. Example: point = (0, 0), also a point = 0, 0, a_3d_point =
(0, 1, 2).
- They usually group together objects of different types, which are accessed via indexing.
- Dictionaries are similar to MATLAB structures.

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- Sets are not used very often but allow for expressive “set operations”, such as intersection, union, difference,
etc. Example: lights = {'red', 'yellow', 'green'}, choices = ['yes', 'no', 'yes'], unique choices = set(choices), unique _choices
is {'yes', 'no'} (Fig. 1).

Python is also one of the top coding languages. This language is required, or at least used, by the overwhelming majority
of computer science courses in United States colleges and many more colleges all over the world. This means that learning
Python is almost essential if one wishes to pursue any degree which requires some fundamental knowledge of coding
and/or computer science practices, and especially for those who are looking to start a career in data analytics. Again, we
can see the similarity between Python and MATLAB from Fig. 1.

IV. LECTURE PROCEDURE OF PID CONTROLLER USING PYTHON

A. General Form of PID Controller and Theory

Lecture introduces basic PID control theory into student as given in Equation 1, 2 and Fig.2. If possible, lecture explain
PID content on why it is important and how they use in industrial are to give them motivation.
In my experience, almost student do not understand on how they implement and why they study. Especially, students do
not know the conception of the role of I-function, P-band. Before PID, lecture had better lecture I-function, D-function
with graph response as Fig. 4 (P-function), Fig. 5 (the role of I-function). A typical mathematical formulation of PID
Control system is given as shown in Fig. 2 and equation (1) and (2)

+
r e + uPID u
I ACTUATOR
- +

Fig. 2. The structure of PID controller.

 1
t
de ( t ) 
u ( t ) = K e( t ) +  e()d + Td  (1)
 Ti 0 dt 
or
t
de ( t )
u ( t ) = Ke( t ) + K i  e()d + K d (2)
0
dt

where:
- K i = K : gain (reset) of integral part of the controller,
Ti
- K d = KTd : gain of derivative part of the controller.

1) PD controller: We had better lecture where we can apply PI or PD controller because students do not understand why.
Usually, PD controller can be used in control of moving objects such are flying and underwater vehicles, ships, rockets,
robot, and etc. Because the effect of PD controller can stabilize quickly by sudden changes in targeting variable.
Sometime, velocity control is used as sensor of heading change of moving object.
2) PI controller: PI controllers are the most often used in industry:
- Fast response of the system is not required
- Large disturbances and noise are present during operation of the process
- There is only one energy storage in process (capacitive or inductive)
- There are large transport delays in the system

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Thermal processes with good thermal insulation act almost as integrators because insulation is good and thermal losses
are small. In such processes, there is present process dynamics with large inertia since dynamics is slow, derivative mode
is required for control of such processes. Integral mode would only already slow dynamics make more slowly.

e(t)
t
K
Ti 0
e(0) I= e()d; K = 1; Ti = 1

de(t1 )
e(t1) D= ; Td = 1
dt
P = Ke(t1) ; K = 1

0 t1 t

Fig. 3. PID controller control signal generation.

Fig.3 shows the output signal of PID control. Lecture must explain on how this output signal can be produced for student.
Also, they should explain proportional band because many industrial controllers in the site have defined a proportional
band (PB) instead of gain:
100
𝑃𝐵 = [%] (3)
𝐾

Usually, a proportional band is equal PB = 100%. Graphically characteristic of P controller is given in Fig. 4 (a) and
(b). Fig. 4 (b) illustrates well band’s concepts with 60% and 40%. If the controller has a narrow band, the output signal
of controller increases faster than wide band. That is an important for controller’s tuning when it is combined with I, D.
That is, PI, PD, PID controller.

u(t)

Umax

u0

Umin

- e0 e0 e(t)

Fig. 4 (a). Graphic expression of P controller

Control output Control output

Error Error
P-band P-band

Full scale (60%) Full scale (40%)

Fig. 4 (b). P-band 60[%] and 40[%]

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uPI(t)
K
uI(t)
Ti
K
e(t) e(t)
1 1

Ti

0 t 0 t

a) Transfer function of integrator b) PI controller transfer function

Fig. 5. Transfer functions of integrator and PI controller.

Usually, they do not use derivative mode in control system with many picks or disturbance like flow system. They never
use on nuclear power plant level control system because derivative mode cannot eliminate control error. However, robot
arm control system should use derivative mode reacts only on change of the controller input.

B. Lecture Process of Basic PID Controller by Python

To implement in Python, this paper modified signal as
𝑒𝑘 −𝑒𝑘−1
𝑀𝑉𝑘 = 𝑀𝑉𝑏𝑎𝑟 + 𝐾𝑝 𝑒𝑘 + 𝐾𝑖 ∑𝑛𝑘=0 𝑒𝑘 (𝑇𝑘 − 𝑇𝑘−1 ) + (4)
𝑇𝑘 −𝑇𝑘−1
𝑒𝑘 = 𝑆𝑃𝑘 − 𝑃𝑉𝑘 , (5)

where 𝑒𝑘 is the difference between setpoint and measured process variable.

Users download from Python web site and enter the code as Fig. 6. Fig. 6 is implemented in Colab (Python) directly. We
can see this code looks like text. So, it is easier than MATLAB code. Also, it is free of charge and you can access, as
open source, any times and any place as far as there is Internet. That is why I like to strongly candidate lecture and student
use this Python. Additionally, there are many communities to solve and have a solution about problem while you are
working. However, MATLAB do not open source and also, we can access good knowledge because of commercial policy.

Fig. 6. Python code (Colab)of Basic PID controller.

C. Setpoint Weighting Control

Equation (1), (2) show the basic PID controller and Equation (4), (5) are the modified equation for coding. In this section,
we can express setpoint weighting control of PID in Python. As described previous, when we change derivative term in
process control applications, the results of controller change the manipulated variable (action signal) and it may require
sudden and abrupt changes in valve position, process flows, or pressures, all of which can cause significant strain on very

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large devices. Usually, we call that this phenomenon is called setpoint kick (or derivative kick), which is generally to be
avoided.
𝑡 𝑑𝑒𝑑
𝑀𝑉 = 𝑀𝑉𝑏𝑎𝑟 + 𝐾𝑝 𝑒𝑝 + 𝐾𝑖 ∫0 𝑒𝑖 𝑑𝑡 + 𝐾𝑑 (6)
𝑑𝑡
𝑒𝑝 (𝑡) = 𝛼𝑆𝑃 − 𝑃𝑉 (7a)
𝑒𝑖 (𝑡) = 𝑆𝑃 − 𝑃𝑉 (7b)
𝑒𝑑 (𝑡) = 𝛽𝑆𝑃 − 𝑃𝑉 (7c)

Fig. 7. Python code (Colab) of automatic mode of PID controller.

For that, we can recover by using setpoint weighting. To this end, the PID control formula is written as Equation (6), (7).
We can have the effect of a different error term for each term in the control equation as Equation (7).
The integral term offers the same condition as before, which has the function of gap reducing in order to force the process
variable 𝑃𝑉 to be equal to the setpoint 𝑆𝑃 at steady-state. The error terms for the proportional and derivative terms,
however, include constants 𝛼 𝑎𝑛𝑑 𝛽 which are used to modify the response to setpoint changes. Commonly, the tuning
is to set 𝛽=0 which entirely eliminates derivative action based on change in the setpoint. This tuning approach offer a
good result in process control because it eliminates the 'derivative term' associated with a quick change in setpoint. The
term 𝛼 is generally tuned to meet the specific application requirements of setpoint and setpoint tracking is not a high
priority when setting 𝛼=0 is a reasonable starting point.

D. Implementation of Setpoint Weighting Control in Python

Fig. 8 shows controller’s implemented code in Python. We can see Python is a very simple for lecture and learn as the
beginner from this Fig. 8. Personally, I have been teaching for under course and graduate course in the university as
control engineering since a long time ago. Of course, University had a license for 25 students in one class and there are
many classes in engineering departments. And also, there was no choice to alternative method. However, currently, it is
very difficult to use MATLAB in developing country’s University. There is no license and PC condition is not good as
student. Herein, I like to strongly candidate change to Python to teach easily and convenient for student. That is a duty
as professor.

V. CONCLUSION

PID controller is still quite important because it is using industrial area widely and there are many tuning methods for
many plant characteristics. So, it is important to have a lecture by using S/W. However, they use MATLAB S/W because
of limited S/W. This paper focuses on implementation of PID controller in Python (Colab). So many universities and
research centers have been using only MATLAB to teach and research so far. Of course, MATLAB is a good tool for
control engineering to teach and learn in University.

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Fig. 8. Python code (Colab) of setpoint weighing control of PID controller.

However, Python has better advantage as:

- MATLAB is the commercial software that is employed in research and industry. It is the example of high-level
scripting and also named as 4th generation language.
- MATLAB is particular about the way that data must be read in and commands. This is a somewhat expected
problem, as software. Currently almost code tend to be more open but is less open. Therefore, it is a very difficult to teach
and learn in developing country’s university except university’s support.
- Python is a high-level language and very similar to MATLAB
- It is interpreted and has an interactive prompt. It allows dynamic typing and provides automatic memory
management (and comes with in-built complex numbers).
- Python is easier to make a learn and teaching using a coding for lecture.
- The best thing is open source. So, students can access easily. With this free program, students can be a good
programmer and have a motivation to study. It allows them to start up very quickly.
- Python has variety communities to share, study, solve problem.
We can teach well without hesitation because of S/W in University.

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[22]. Dong Hwa Kim, Jae Hoon Cho, “Robust PID using Gain/Phase margin and advanced immune algorithm,” WSEAS Transaction on systems Vol.
3, No. 9, 2004, pp. 2841-2851.
[23]. Dong Hwa Kim, “Robust tuning of embedded intelligent PID controller for induction motor using bacterial foraging-based optimization (Best
paper candidate,” Lecture Notes in Computer Science Proceeding of Springer (SCI) –LNCS, ICESS2004, pp. 137-142, Dec. 9-10, 2004, Zhejiang
University.
[24]. Dong Hwa Kim, Jin Ill Park, “Intelligent Tuning of PID Controller For AVR System Using a Hybrid GA-PSO Approach,” Lecture Notes in
Computer Science Proceeding of Springer (SCI), May 12-15, 2005, Atlanta.
[25]. Dong Hwa Kim, Jae Hoon Cho, “Adaptive Tuning of PID Controller For Multivariable System Using Bacterial Foraging Based Optimization,”
Lecture Notes in Computer Science Proceeding of Springer (SCI), June 12-15, 2005, Poland.
[26]. Dong Hwa Kim, “Robust Intelligent Tuning of PID Controller for Multivariable System Using Clonal Selection and Fuzzy Logic,” Lecture Notes
in Computer Science Proceeding of Springer (SCI), September 12-15, 2005, KES 2005, Melbourne, Australia.
[27]. Dong Hwa Kim, Jin Ill Park, “Intelligent PID Controller Tuning of AVR System Using GA and PSO,” IEEE 2005 Intelligent computing, Lecture
Notes in Computer Science Proceeding of Springer (SCI), Aug. 23-26, 2005.
[28]. Dong Hwa Kim, “Decentralized PID Controller Tuning for Multivariable Process Using Multiobjective Optimization Based on Bacterial
Foraging,” IEEE 2005 Intelligent computing, Lecture Notes in Computer Science Proceeding of Springer (SCI), Aug. 23-26, 2005, China.
[29]. Dong Hwa Kim, Jae Hoon Cho, “Robust Tuning of PID Controller Using Bacterial-Foraging-Based Optimization,” JACIII, Vol. No. 6, pp. 2436,
Sept. 22, 2005.
[30]. Dong Hwa Kim, “Decentralised PID Controller Tuning for Multivariable Process Using Multiobjective Optimization Based on Bacterial
Foraging,” Dynamics of Continuous, Discrete & Impulsive Systems: Series B Applications & Algorithm (SCI), Vol. 14(SI), Jun, pp. 33-40, 2007.
[31]. Dong Hwa Kim, “Experimental Research of Intelligent Multivariable 2-DOF PID Control System for DCS,” International Journal of Systems
Applications, Engineering & Development, July, 2013, pp. 148-157.
[32]. Dong Hwa, Jae Hoon Cho, “Advanced Intelligence Tuning Using Hybrid of Clonal Selection and Genetic Algorithm, GM and PM”, International
Journal of Computational Intelligence and Applications, Vol. 14, No. 1, 2015.
[33]. Dong Hwa Kim, “Getachew Teshome**, Dawit Dubela**, Yosef Dentamo**, Hinsermu Alemayehu, “Optimal Conversion of DC-DC Converter
Considered Optimal Switching Time and Optimal Switching Mode of PWM by Fuzzy Based PID Tuning’, IJITEE, pp. 1-6, March 2020.

BIOGRAPHIES

Dong Hwa Kim Ph.D: Dept. of Computational Intelligence and Systems Science, Interdisciplinary
Graduate School of Science and Engineering (AI Application for Automatic control), TIT (Tokyo
Institute of Technology), Tokyo, Japan. Hanbat National University (Dean, Prof., S. Korea), He has
experience in many University, overseas as Prof. He was NCP of EU-FP7 (EU-Framework Program,
ICT). He had keynote speak at several international conference and University. He has 200 papers in
Journal and conferences. He was editor of IJCIR (International Journal of Computational Intelligence).
He is current Prof. at Electrical Power and Control Eng. Adama Science and Tech. Uni., Ethiopia
(http://worldhumancare.wixsite.kimsite).

Hinsermu Alemayehu was born in Ethiopia, Fincha city in 1988. I received the B.Sc. in Electrical and
Electronics Technology in from ASTU (Adama Science and Technology University) in 2008 and M.Sc
degree in Control Engineering from Tianjin University of Technology and Education in 2011. He joined
EPCE, ASTU. He is currently working as a lecturer and Department head. Main areas of research interest
are control systems, robotics and automation and power electronics and drives. Currently he is a member
of the Ethiopian Society of Electrical Engineers.

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