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In Group VII: Members: Bayona, Jose Rollen A. Perreras, Roland R Depallo, Justin R. Logrono, Stephen A

The document discusses proportional-integral-derivative (PID) controllers which are commonly used in industrial control systems. A PID controller continuously calculates the error between a measured process variable and desired setpoint, and adjusts a control variable to minimize the error over time. The three parameters of the PID model - proportional, integral, and derivative terms - account for present, past, and predicted future error values respectively. While PID controllers are widely applicable, they have limitations such as poor performance in non-linear systems and sensitivity to measurement noise.

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66 views4 pages

In Group VII: Members: Bayona, Jose Rollen A. Perreras, Roland R Depallo, Justin R. Logrono, Stephen A

The document discusses proportional-integral-derivative (PID) controllers which are commonly used in industrial control systems. A PID controller continuously calculates the error between a measured process variable and desired setpoint, and adjusts a control variable to minimize the error over time. The three parameters of the PID model - proportional, integral, and derivative terms - account for present, past, and predicted future error values respectively. While PID controllers are widely applicable, they have limitations such as poor performance in non-linear systems and sensitivity to measurement noise.

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Collim Hajime Nivaled
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© © All Rights Reserved
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in
Group VII
Members : Bayona , Jose rollen A.
Perreras , Roland R
Depallo , Justin R.
Logrono , Stephen A.
A proportional-integral-derivative controller (PID controller) is a control loop feedback
mechanism (controller) commonly used in industrial control systems. A PID controller
continuously calculates an "error value" as the difference between a measured process
variable and a desired set point. The controller attempts to minimize the error over time by

adjustment of a control variable, such as the position of a control valve, a damper, or the power
supplied to a heating element, to a new value determined by a weighted sum:

where
,
, and
, all non-negative, denote the coefficients for the proportional, integral,
and derivative terms, respectively (sometimes denoted P, I, and D). In this model, P accounts
for present values of the error (e.g. if the error is large and positive, the control output will also
be large and positive), I accounts for past values of the error (e.g. if the output is not sufficient to
reduce the size of the error, error will accumulate over time, causing the controller to apply
stronger output), and D accounts for predicted future values of the error, based on its current
rate of change.[1]
As a PID controller relies only on the measured process variable, not on knowledge of the
underlying process, it is a broadly useful controller.[2] By tuning the three parameters of the
model, one can design a PID controller for specific process requirements. The response of the
controller can be described in terms of the responsiveness of the controller to an error, the
degree to which the controller overshoots the setpoint, and the degree of system oscillation.
Note that the use of the PID algorithm for control does not guarantee optimal control of the
system or system stability.
Some applications may require using only one or two terms to provide the appropriate system
control. This is achieved by setting the other parameters to zero. A PID controller will be called a
PI, PD, P or I controller in the absence of the respective control actions. PI controllers are fairly
common, since derivative action is sensitive to measurement noise, whereas the absence of an
integral term may prevent the system from reaching its target value due to the control action.

Proportional term :

The proportional term produces an output value that is proportional to the current error value.
The proportional response can be adjusted by multiplying the error by a constant Kp, called the
proportional gain constant.

Integral term :

The contribution from the integral term is proportional to both the magnitude of the error and the
duration of the error. The integral in a PID controller is the sum of the instantaneous error over
time and gives the accumulated offset that should have been corrected previously. The
accumulated error is then multiplied by the integral gain (

) and added to the controller output.

Derivative term

The derivative of the process error is calculated by determining the slope of the error over time
and multiplying this rate of change by the derivative gain Kd. The magnitude of the contribution
of the derivative term to the overall control action is termed the derivative gain, Kd.

Limitations of PID control


While PID controllers are applicable to many control problems, and often perform satisfactorily
without any improvements or only coarse tuning, they can perform poorly in some applications,
and do not in general provide optimal control. The fundamental difficulty with PID control is that
it is a feedback system, with constant parameters, and no direct knowledge of the process, and
thus overall performance is reactive and a compromise. While PID control is the best controller
in an observer without a model of the process,better performance can be obtained by overtly
modeling the actor of the process without resorting to an observer.
PID controllers, when used alone, can give poor performance when the PID loop gains must be
reduced so that the control system does not overshoot, oscillate or hunt about the control
setpoint value. They also have difficulties in the presence of non-linearities, may trade-off
regulation versus response time, do not react to changing process behavior (say, the process
changes after it has warmed up), and have lag in responding to large disturbances.
The most significant improvement is to incorporate feed-forward control with knowledge about
the system, and using the PID only to control error. Alternatively, PIDs can be modified in more
minor ways, such as by changing the parameters (either gain scheduling in different use cases
or adaptively modifying them based on performance), improving measurement (higher sampling

rate, precision, and accuracy, and low-pass filtering if necessary), or cascading multiple PID
controllers.

Linearity
Another problem faced with PID controllers is that they are linear, and in particular symmetric.
Thus, performance of PID controllers in non-linear systems (such as HVAC systems) is variable.
For example, in temperature control, a common use case is active heating (via a heating
element) but passive cooling (heating off, but no cooling), so overshoot can only be corrected
slowly it cannot be forced downward. In this case the PID should be tuned to be overdamped,
to prevent or reduce overshoot, though this reduces performance (it increases settling time).

Noise in derivative
A problem with the derivative term is that it amplifies higher frequency measurement or
process noise that can cause large amounts of change in the output. It does this so much, that a
physical controller cannot have a true derivative term, but only an approximation with limited
bandwidth. It is often helpful to filter the measurements with a low-pass filter in order to remove
higher-frequency noise components. As low-pass filtering and derivative control can cancel
each other out, the amount of filtering is limited. So low noise instrumentation can be important.
A nonlinear median filter may be used, which improves the filtering efficiency and practical
performance. In some cases, the differential band can be turned off with little loss of control.
This is equivalent to using the PID controller as a PI controller.

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