Digital and Non-Linear Control

PID Control
Dr. Bhagwan Das

1
 Introduction
• PID Stands for
– P  Proportional
– I  Integral
– D  Derivativ

2
 Introduction
• The usefulness of PID controls lies in their general applicability to most
control systems.

• In particular, when the mathematical model of the plant is not known

and therefore analytical design methods cannot be used, PID controls
prove to be most useful.

• It is interesting to note that more than half of the industrial controllers

in use today are PID controllers or modified PID controllers.

• Because most PID controllers are adjusted on-site, many different types
of tuning rules have been proposed in the literature.

• Using these tuning rules, delicate and fine tuning of PID controllers can
be made on-site.

3
 Proportional Control (P)
• In proportional mode, there is a continuous linear relation
between value of the controlled variable and position of the
final control element.
𝑟(𝑡) 𝑒(𝑡) 𝑐𝑝(𝑡) = 𝐾𝑝 𝑒(𝑡) 𝑐(𝑡)
𝐾𝑝 𝑃𝑙𝑎𝑛𝑡
𝑏(𝑡)
- 𝑃𝑟𝑜𝑝𝑜𝑟𝑡𝑖𝑜𝑛𝑎𝑙
𝐶𝑜𝑛𝑡𝑟𝑜𝑙

𝐹𝑒𝑒𝑑𝑏𝑎𝑐𝑘

• Output of proportional controller is

𝑐𝑝(𝑡) = 𝐾𝑝 𝑒(𝑡)
• The transfer function can be written as
𝐶𝑝(𝑠)
= 𝐾𝑝
𝐸(𝑠) 4
 Proportional Controllers (P)
• As the gain is increased the system responds faster to
changes (pros) but becomes progressively underdamped
and eventually unstable (cons).

5
 Proportional Plus Integral Controllers (PI)
• Integration can be viewed as averaging

• The major advantage of integral controllers is that they have

the unique ability to return the controlled variable back to the
exact set point following a disturbance.

• Disadvantages of the integral control mode are that it

responds relatively slowly to an error signal and that it can
initially allow a large deviation at the instant the error is
produced (high overshoot).

• This can lead to system instability. For this reason, the integral
control mode is not normally used alone, but is combined
with other control mode.
6
 Proportional Plus Integral Control (PI)

𝐾𝑖 𝑒(𝑡) 𝑑𝑡
𝐾𝑖 ∫

𝑟(𝑡) 𝑒(𝑡) + 𝑐𝑝𝑖 𝑡

𝐾𝑝 𝑒(𝑡)+ 𝑐(𝑡)
𝐾𝑝 𝑃𝑙𝑎𝑛𝑡
𝑏(𝑡)
-

𝐹𝑒𝑒𝑑𝑏𝑎𝑐𝑘

𝑐𝑝𝑖 𝑡 = 𝐾𝑝 𝑒 𝑡 + 𝐾𝑖 𝑒 𝑡 𝑑𝑡
7
 Proportional Plus Integral Control (PI)

𝑐𝑝𝑖 𝑡 = 𝐾𝑝 𝑒 𝑡 + 𝐾𝑖 𝑒 𝑡 𝑑𝑡

• The transfer function can be written as

𝐶𝑝𝑖(𝑠) 1
= 𝐾𝑝 + 𝐾𝑖
𝐸(𝑠) 𝑠

8
 Proportional Plus Derivative Control (PD)
• The stability and overshoot problems (that arise when a
proportional controller is used at high gain) can be mitigated by
adding a term proportional to the time-derivative of the error signal.
It reduces overshoot and the value of the damping can be adjusted
to achieve a critically damped response (Page 169 in the Textbook).

9
Proportional Plus Derivative Control (PD)
𝑑𝑒(𝑡)
𝑑 𝐾𝑑
𝑑𝑡
𝐾𝑑
𝑑𝑡
𝑟(𝑡) 𝑒(𝑡) + 𝑐𝑝𝑑 𝑡
𝐾𝑝 𝑒(𝑡)+ 𝑐(𝑡)
𝐾𝑝 𝑃𝑙𝑎𝑛𝑡
𝑏(𝑡)
-

𝐹𝑒𝑒𝑑𝑏𝑎𝑐𝑘

𝑑𝑒(𝑡)
𝑐𝑝𝑑 𝑡 = 𝐾𝑝 𝑒 𝑡 + 𝐾𝑑 𝑑𝑡
10
 Proportional Plus Derivative Control (PD)
𝑑𝑒(𝑡)
𝑐𝑝𝑑 𝑡 = 𝐾𝑝 𝑒 𝑡 + 𝐾𝑑 𝑑𝑡

• The transfer function can be written as

𝐶𝑝𝑑(𝑠)
= 𝐾𝑝 + 𝐾𝑑 𝑠
𝐸(𝑠)

11
Proportional Plus Integral Plus Derivative Control (PID)
• Although PD control deals neatly with the overshoot problems
associated with proportional control it does not cure the problem
with the steady-state error. Fortunately it is possible to eliminate
this by adding an integral term to the control function which
becomes PID control

12
Proportional Plus Integral Plus Derivative Control (PID)
𝑑𝑒(𝑡)
𝑑 𝐾𝑑
𝑑𝑡
𝐾𝑑
𝑑𝑡
𝑟(𝑡) 𝑒(𝑡) + 𝑐𝑝𝑖𝑑 𝑡
𝐾𝑝 𝑒(𝑡) + 𝑐(𝑡)
𝐾𝑝 𝑃𝑙𝑎𝑛𝑡
𝑏(𝑡)
- +
𝐾𝑖 𝑒(𝑡) 𝑑𝑡
𝐾𝑖 ∫

𝐹𝑒𝑒𝑑𝑏𝑎𝑐𝑘

𝑑𝑒(𝑡)
𝑐𝑝𝑖𝑑 𝑡 = 𝐾𝑝 𝑒 𝑡 + 𝐾𝑖 𝑒(𝑡) 𝑑𝑡 + 𝐾𝑑
𝑑𝑡 13
Proportional Plus Integral Plus Derivative Control (PID)

𝑑𝑒(𝑡)
𝑐𝑝𝑖𝑑 𝑡 = 𝐾𝑝 𝑒 𝑡 + 𝐾𝑖 𝑒(𝑡) 𝑑𝑡 + 𝐾𝑑
𝑑𝑡

𝐶𝑝𝑖𝑑(𝑠) 1
= 𝐾𝑝 + 𝐾𝑖 +𝐾𝑑 𝑠
𝐸(𝑠) 𝑠

14
 Tips for Designing a PID Controller

1. Obtain an open-loop response and determine what needs to be improved

2. Add a proportional control to improve the rise time
3. Add a derivative control to improve the overshoot
4. Add an integral control to eliminate the steady-state error
5. Adjust each of Kp, Ki, and Kd until you obtain a desired overall response.

• Keep in mind that you do not need to implement all three controllers
(proportional, derivative, and integral) into a single system, if not
necessary. For example, if a PI controller gives a good enough response,
then you don't need to implement derivative controller to the system. Keep
the controller as simple as possible.

15
 PID Tuning
• The transfer function of PID controller is given as
𝐶𝑝𝑖𝑑 (𝑠) 1
= 𝐾𝑝 + 𝐾𝑖 +𝐾𝑑 𝑠
𝐸(𝑠) 𝑠
• It can be simplified as
𝐶𝑝𝑖𝑑 𝑠 1 (𝑠+𝑎)2
= 𝐾𝑝 1 + +𝑇𝑑 𝑠 = K (typically)
𝐸 𝑠 𝑇𝑖 𝑠 𝑠
• Where
𝐾𝑝 𝐾𝑑
𝑇𝑖 = 𝑇𝑑 =
𝐾𝑖 𝐾𝑝

16
 PID Tuning
• The process of selecting the controller parameters
(𝐾𝑝 , 𝑇𝑖 and 𝑇𝑑 ) to meet given performance specifications
is known as controller tuning.

• Ziegler and Nichols suggested rules for tuning PID

controllers experimentally.

• These are useful when mathematical models of plants

are not known.

• These rules can, of course, be applied to the design of

systems with known mathematical models.
17
 PID Tuning
• Such rules suggest a set of values of 𝐾𝑝 , 𝑇𝑖 and 𝑇𝑑 that will
give a stable operation of the system, according to empirical
models.

• However, the resulting system may exhibit a large maximum

overshoot in the step response, which is unacceptable.

• In such a case we need series of fine tunings until an

acceptable result is obtained.

• In fact, the Ziegler–Nichols tuning rules give an educated (not

necessarily the best) guess for the parameter values and
provide a starting point for fine tuning, rather than giving the
final settings for 𝐾𝑝 , 𝑇𝑖 and 𝑇𝑑 in a single shot.
18
 Zeigler-Nichol’s PID Tuning Methods
• Ziegler and Nichols proposed rules for determining values
of the 𝐾𝑝 , 𝑇𝑖 and 𝑇𝑑 based on the transient response
characteristics of a given plant.

• Such determination of the parameters of PID controllers

or tuning of PID controllers can be made by engineers on-
site using experiments on the plant.

• There are two methods called Ziegler–Nichols tuning

rules:
• First method (open loop Method)
• Second method (closed Loop Method) 19
 Zeigler-Nichol’s First Method
• In the first method, we
obtain experimentally
the response of the
plant to a unit-step
input.

• If the plant involves

neither integrator(s) nor
dominant complex-
conjugate poles, then
such a unit-step
response curve may look
S-shaped 20
 Zeigler-Nichol’s First Method
• This method applies if the response to a step input exhibits an
S-shaped curve.

• Such step-response curves may be generated experimentally

or from a dynamic simulation of the plant.
Table-1

21
 Zeigler-Nichol’s Second Method
• In the second method, we first set 𝑇𝑖 = ∞ and 𝑇𝑑 = 0.

• Using the proportional control action only (as shown in

figure), increase Kp from 0 to a critical value Kcr at which
the output first exhibits sustained oscillations.

• If the output does not exhibit sustained oscillations for

whatever value Kp may take, then this method does not
apply.
22
 Zeigler-Nichol’s Second Method
• Thus, the critical gain Kcr
and the corresponding
period Pcr are determined.

Table-2

23
 Example 1
• Consider the control system shown in following figure.

• Apply a Ziegler–Nichols tuning rule for the determination

of the values of parameters 𝐾𝑝 , 𝑇𝑖 and 𝑇𝑑 .

24
 Example 1
• Transfer function of the plant is

1
𝐺 𝑠 =
𝑠(𝑠 + 1)(𝑠 + 5)
• Since plant has an integrator therefore Ziegler-Nichol’s
first method is not applicable.

• According to second method proportional gain is varied

till sustained oscillations are produced.

• That value of Kc is referred as Kcr.

25
 Example 1
• One can experimentally determine 𝐾𝑐𝑟
• Since the transfer function of the plant is known we can find
𝐾𝑐𝑟 using Routh-Herwitz Stability Criterion

• By setting 𝑇𝑖 = ∞ and 𝑇𝑑 = 0 closed loop transfer function is

obtained as follows.

𝐾𝑝

𝐶(𝑠) 𝐾𝑝
=
𝑅(𝑠) 𝑠 𝑠 + 1 𝑠 + 5 + 𝐾𝑝 26
 Example 1
• The value of 𝐾𝑝 that makes the system marginally unstable so
that sustained oscillation occurs can be obtained as

𝑠 3 + 6𝑠 2 + 5𝑠 + 𝐾𝑝 = 0
• The Routh array is obtained as

• Examining the coefficients of first

column of the Routh array we find
that sustained oscillations will
occur if 𝐾𝑝 = 30.

• Thus the critical gain 𝐾𝑐𝑟 is

𝐾𝑐𝑟 = 30 27
 Example 1
• With gain 𝐾𝑝 set equal to 30, the characteristic equation
becomes
𝑠 3 + 6𝑠 2 + 5𝑠 + 30 = 0
• To find the frequency of sustained oscillations, set 𝑠 = 𝑗𝜔 into
the characteristic equation (intersection with the 𝑗𝜔 axis).

(𝑗𝜔)3 +6(𝑗𝜔)2 +5𝑗𝜔 + 30 = 0

• Further simplification leads to

6(5 − 𝜔2 ) + 𝑗𝜔(5 − 𝜔2 ) = 0

6(5 − 𝜔2 ) = 0

𝜔 = 5 𝑟𝑎𝑑/𝑠𝑒𝑐 28
 Example 1
𝜔 = 5 𝑟𝑎𝑑/𝑠𝑒𝑐
• Hence the period of sustained oscillations 𝑃𝑐𝑟 is

2𝜋
𝑃𝑐𝑟 =
𝜔
2𝜋
𝑃𝑐𝑟 = = 2.8099 𝑠𝑒𝑐
5
• Referring to Table-2
𝐾𝑝 = 0.6𝐾𝑐𝑟 = 18
𝑇𝑖 = 0.5𝑃𝑐𝑟 = 1.405
𝑇𝑑 = 0.125𝑃𝑐𝑟 = 0.35124 29
 Example 1
𝐾𝑝 = 18 𝑇𝑖 = 1.405 𝑇𝑑 = 0.35124
• Transfer function of PID controller is thus obtained as
1
𝐺𝑐 (𝑠) = 𝐾𝑝 (1 + +𝑇𝑑 𝑠)
𝑇𝑖 𝑠
1
𝐺𝑐 (𝑠) = 18(1 + + 0.35124𝑠)
1.405𝑠

30
Example 1

31
 Home Work
1
𝐺 𝑠 =
𝑠(𝑠 + 1)(𝑠 + 3)

• Solve using ZN Methods

• Find values
• Complete Transfer Function
• Draw Unit Step Response

32