Karmaveer Bhaurao Patil Polytechnic, Satara: Control Actions

Rayat Shikshan Sanstha’s
KARMAVEER BHAURAO PATIL

POLYTECHNIC,
SATARA
Control Actions
Department Of Electronics And Telecommunication Engineering
Control System and PLC
EJ5G Subject Code: 17536 Third Year Entc
Amit Nevase
Lecturer,
Department of Electronics & Telecommunication Engineering,
Karmaveer Bhaurao Patil Polytechnic, Satara
9/27/2016 Amit Nevase 2

Objectives
The student will be able to:
 Understand classifications of control system.
 Understand Steady state, time response, and frequency

response analysis.
 Analyze the Stability of control system using RH criteria.
 Understand the fundamentals and diff. Hardware parts of

PLC.
 Draw ladder diagrams to program PLC

Teaching & Examination Scheme
Teaching Scheme Examination Scheme
PAPER
TH TU PR TH PR OR TW TOTAL
HRS
03 -- 02 03 100 50# --- 25@ 175
 Two tests each of 25 marks to be conducted as per the schedule

given by MSBTE.
 Total of tests marks for all theory subjects are to be converted
out of 50 and to be entered in mark sheet under the head
Sessional Work (SW).
Module I – Introduction to Control System
 Introduction to Control systems (4 Marks)
 Control System – Definition and Practical Examples
 Classification of Control System : Open Loop and Closed Loop Systems –
Definitions, Block diagrams, practical examples, and Comparison, Linear and
Non-linear Control System, Time Varying and Time In-varying Systems
 Servo System : Definition, Block Diagram, Classification (AC and DC Servo
System), Block diagram of DC Servo System.
 Laplace Transform and Transfer Function (4 Marks)
 Laplace Transform : Signifiance in Control System
 Transfer Function : Definition, Derivation of transfer functions for Closed loop
Control System and Open Loop Control System, Differential Equations and
transfer functions of RC and RLC Circuit
 Block Diagram Algebra (8 Marks)
 Order of a System : Definition, 0,1,2 order system Standard equation, Practical
Examples
 Block Diagram Reduction Technique: Need, Reduction Rules, Problems
Module II – Time Response Analysis
 Time Domain Analysis (4 Marks)
 Transient and Steady State Response
 Standard Test Inputs : Step, Ramp, Parabolic and Impulse, Need, Significance
and corresponding Laplace Representation
 Poles and Zeros : Definition, S-plane representation
 First and Second order Control System (8 Marks)
 First Order Control System : Analysis for step Input, Concept of Time Constant
 Second Order Control System : Analysis for step input, Concept, Definition and
effect of damping
 Time Response Specifications (8 Marks)
 Time Response Specifications ( no derivations )
 Tp, Ts, Tr, Td, Mp, ess – problems on time response specifications
 Steady State Analysis – Type 0, 1, 2 system, steady state error constants,
problems

Module III – Stability
 Introduction to Stability (4 Marks)

 Definition of Stability, Analysis of stable, unstable, critically stable
and conditionally stable
 Relative Stability
 Root locations in S-plane for stable and unstable system
 Routh’s Stability Criterion (8 Marks)

 Routh’s Stability Criterion : Different cases and conditions
 Statement Method
 Numericals Problems

Module IV – Control Actions
 Process Control System (4 Marks)

 Process Control System – Block diagram, explanation of each block
 Control Actions (8 Marks)

 Discontinuous Mode : On-Off Controller, Equation, Neutral Zone
 Continuous modes: Proportional Controller (offset, proportional
band), Integral Controllers, Derivative Controllers – output
equations, corresponding Laplace transforms, Response of P, I, D
controllers
 Composite Controllers : PI, PD, PID Controllers – output equations,
response, comparison

Module V – PLC Fundamentals
 Introduction (4 Marks)
 Evolution of PLC in automation, need and benefits of PLC in
automation
 Block Diagram of PLC (12 Marks)
 Block diagram and description of different parts of PLC -
 CPU Function, Scanning cycle, speed of execution, Power supply
function,
 Memory – function , organization of ROM and RAM
 Input modules – function, different input devices used with PLC
and their uses
 Output modules – function, different output devices used with
PLC and their uses
 Fixed and Modular PLCs
Module VI – PLC Hardware and Programming
 PLC Hardware (8 Marks)
 Discrete Input Modules – Block diagram, typical wiring details, Specifications of
AC input modules and DC input modules. Sinking and sourcing concept in DC
input modules
 Discrete Output Modules – Block diagram, typical wiring details, Specifications
of AC output modules and DC output modules.
 Analog Input and output modules : Block diagram, typical wiring details and
specifications
 PLC Programming (16 Marks)
 I/O Addressing in PLC
 PLC Instruction Set : Relay instructions, timer instructions, counter instructions,
data handling instructions, logical and comparison instructions
 PLC programming examples based on above instruction using Ladder
programming

Module-IV
Control Actions

Specific Objectives
Explain the need of Control actions
Differentiate between different types of Control
actions Such as P, I & D
Explain composite controllers; PI, PD, PID
controllers

 Process Control System – Block diagram, explanation of each
block

controllers
Block Diagram of Process Control System
9/27/2016 Nevase Amit 14


 Process Control System – Block diagram, explanation of each
block

controllers
Classification of Control Actions
Discontinuous Continuous
On-Off Controller
I Composite
Two Position P D
Controllers
Controller
Multi Position PI
Controller PD
Floating Mode
Controller PID
Related Terms
 Continuous Controller: Controller that responds to

continuous input variables are called continuous controller.
 Discrete Controller: Controller that responds to discrete

signal are called discrete controllers.
 Process Equation: A process equation describes the

mathematical relationship among the input and output
variables.

Related Terms
 Process Load: The term process load refers to a set of
parameters that influences or bring changes in the process
excluding the controlled variable.
 Nominal Load: All the parameters have their normal or nominal
value
 Transient : A temporary or sudden change or the variation of
one of the variable is called transient.
 Process Lag : A process control loop responds to ensure that
some finite time later, the variable returns to the set point value.
Part of this time is consumed by the process itself and that time
is called process lag.
Related Terms
 Control Lag : Control lag refers to the time for the
process control loop to make necessary adjustment to
the final control element.
 Dead Time : Another time variable associated with
process control is a function of both process control
system and the process. This is the elapsed time
between the instant of deviation (error) occurs and
when the corrective action first occurs.
 Cycling : Oscillation of error about the zero value. This
means the dynamic variable cycling above and below
the set point. For cycling we are interested in
amplitude and period of oscillation.


controllers

ON-OFF Controller- 2 Position Controller
Synonyms:
“two-position” or “bang-bang” controllers.
e = error =
set point – measured variable
Controller output has two possible values.

Neutral Zone
Practical case (dead band)
δ = tolerance
system never reaches steady-state

ON-OFF Controller-Multi position Controller
Multimode/ Multi-position Controller: Multimode controller is a
logical extension of On/Off controller. It is used to provide
several intermediate, rather than two, setting of the
controller output. This discontinuous control is used in an
attempt to reduce the cycling behavior and overshoot and
undershoot inherent in the On/Off controller.

Floating Control Mode
In a floating control, the specific output of the

controller is not uniquely determined by the
error. If the error is zero the output does not
change but remains (floats) at whatever setting
it was when the error went to zero. When the
error moves off zero, the controller output again
begins to change
Floating Control Mode
Floating mode controller is of two types:
Single Speed: In the single-speed floating mode, the

output of the control element changes at a fixed
rate when the error exceeds the neutral zone.
Multi Speed: In the multi-speed floating mode, not

one but several possible speeds (rates) are changed
by controller output. Usually, the rate increases as
the deviation exceeds certain rate.

Electronic ON-OFF Controller

Electronic ON-OFF Controller

Advantages of ON-OFF Controller
Only two output states i.e. ON and OFF.
Simple construction
Low cost

Disadvantages of ON-OFF Controller
Response of ON-OFF controller is slow.
Not suitable for complex system



controllers

Proportional- Integral- Derivative
Output Response for Step Input Signal for:
Proportional Integral Derivative

Proportional Control Action
 In the case of the proportional controller, the actuation

signal is proportional to the system deviation.
 If the system deviation is large, the value of the
manipulated variable is large.
 If the system deviation is small, the value of the
manipulated variable is small.
 The time response of the P controller in the ideal state
is exactly the same as the input variable


In a proportional control mode, a smooth linear

relationship exists between the controller
output and the error. The range of error to cover
the 0% to 100% controller output is called the
proportional band, because the one-to-one
correspondence exists only for errors in this
range.

The output can be expressed as:
Where,
Kp = proportional gain between error and
controller output
p0 = controller output with no error.

In a proportional control mode, the

proportional band is dependent on the gain
and can be expressed as :

The proportional band of a proportional controller depends
on the inverse of the gain.

Characteristics of P Control mode
 If error is zero, the output is a constant equal to p0.
 If there is an error, for every 1% of error, a

correction of Kp percent is added to or subtracted
from p0 depending the sign of the error.
 There is a band of error about zero of magnitude

PB with which the output is not saturated at 0% or
100%.

Why not “Proportional”?
Offset:
 An important characteristics of proportional

controller mode is that it produces a permanent
residual error in the operating point of the
controlled variable, when a change in load occurs.
This error is referred to as offset. It can be
minimized by a larger constant Kp which will also
reduce the proportion band.

An offset error must occur if a proportional controller
requires a new zero-error output following a load change

Proportional Controller
Setpoint
Car – steering analogy: Check distance from middle of the lane and
correct steering in proportion to distance from desired position

Electronic Proportional Controller

Electronic Proportional Controller
Vout  GpVe  Vo
where Vout= output voltage
R2
Gp   gain
R1
Ve= error voltage

Vo= output with zero error

Advantages of Proportional Controller
Construction is simple
These controllers has high loop gain
It has steady state tracking accuracy
It improves the disturbances signal reduction
It stabilizes the gain and makes the system more

stable

Disadvantages of Proportional Controller
It cannot accommodate load change without

sustained deviation.
It produces the constant steady state error.
For very large gain it leads to instability of the
system
It has a sluggish i.e. slow response for wide
proportional band.
It makes the system less sensitive to parameter
variation



controllers

Integral Control Action
 The I controller adds the system deviation over time. It

integrates the system deviation.
 As a result, the rate of change (and not the value) of

the manipulated variable is proportional to the system
deviation.
 This is demonstrated by the step response of the I

controller: if the system deviation suddenly increases,
the manipulated variable increases continuously.

 The greater the system deviation, the steeper the increase

in the manipulated variable
 For this reason the I controller is not suitable for totally
compensating remaining system deviation.
 If the system deviation is large, the manipulated variable
changes quickly.
 As a result, the system deviation becomes smaller and the
manipulated variable changes more slowly until equilibrium
is reached.
 A pure I controller is unsuitable for most controlled

systems, as it either causes oscillation of the closed
loop or it responds too slowly to system deviation in
systems with a long time response.
 In practice there are hardly any pure I controllers.

In a integral control mode, the rate of change of

controller output is proportional to the error. So
the output can be expressed as:

Characteristics Integral Control Action
If error is zero, the output is a constant equal to

p0.
If there is an error, for every 1% of error, a

correction of KI percent is added to or
subtracted from p0 depending the sign of the
error.
Integral mode controller action: (a) The rate of output change
depends on error, and (b) an illustration of integral mode output and
error.

Why not “Integral”?
Integral Windup:
The problem for integral controller is that, if

there is a zero change in slope, the controller
output holds to a constant value. This is called
integral windup. The only way to cut the wind
up is to put a negative error

Integral Controller
Integration of a curve  area under the curve
Integrated input signal is multiplied by a factor, Ki

Integral Controller
Setpoint
Car steering analogy:

Look out through the back window and keep track of
•how long the car has been out of desired position and
•by how much.
How long (sec) * how much (m) is the integral (sec*m).
The longer the car was positioned away from the set point the stronger
the signal Good to correct for long term and only slight deviation from set
point.

Integral Controller
 A purely integrating controller is slow and
 Error takes long time to build up
 Action can become too strong  overshooting
 Int controller is unaware of current position  Generally

used combined with P control (looking at current position)
– PI control

Electronic Integral Controller

Electronic Integral Controller
t
Vout  GI  Vedt  Vout (0)
0
where Vout= output voltage

1
G   integration gain
I
RC
Ve= error voltage
Vout(0)= initial output voltage

Advantages of Integral Controller
It reduces steady state error i.e. effect of offset.
It provides high controlled output at a particular

time after the error generated is for high value
of KI.
It responds to the continued existence of

deviation.

Disadvantages of Integral Controller
It is never used alone.
It makes the system unstable for oscillatory

response.
It introduces hunting in the system response

about its steady state condition.



controllers

Derivative Control Action
In a derivative control mode, the controller

output is proportional to the derivative of the
error. So the output can be expressed as:

Derivative mode controller action changes depending
on the rate of error.

Characteristics Derivative Control Action
 If error is zero or the error is constant in time, the

mode provides no output.
 If there is an error, for every 1% -per-second rate of

change of error, the mode contributes an output of
KD percent.
 For direct action, a positive rate of change of error

produces a positive derivative mode output.

Why not “Derivative”?
Derivative Overrun:
 A step change in set point causes a false step error for the
derivative controller. This step change causes the derivative
part of the controller to saturate the overall controller
output. This ultimately forces the final control element to go
to hard Off mode. This is called derivative overrun. The
solution to this problem is to feed the derivative controller
with process variable (PV) instead of error

Derivative Controller
 Examines the rate of change of the output of the
process
 The faster the change, the stronger the action
 The derivative of the output (slope) is multiplied by
a constant, Kd

Setpoint

 Differential control is insensitive to slow changes
 If the variable is parallel to the setpoint, no change
is made (slope = 0)
 Differential control is very useful when combined

with P and I control  PID control

Electronic Derivative Controller
dVout dVe
Vout  R1C   R 2C
dt dt
Advantages of Derivative Controller
It can overcome the overshoot and severe

cycling.
It has a rapid response to counter the effect of
rapidly changing errors.
It responds to the changes of the speed and
direction to the deviation.
It does not affect the steady state error directly,
but anticipates the error.
It increases the stability of the system by
initiating an early corrective action

Disadvantages of Derivative Controller
 It cannot be used alone, since it cannot give any

output for zero or constant error.
 It is ineffective for slowly changing error and hence

causes the drift.
 It amplifies the noise signal and causes a saturation

effect on the system.
 It does not eliminate the steady state error. (offset)



controllers
 Composite Controllers : PI, PD, PID Controllers – output
equations, response, comparison

PI-Controller
 The PI controller combines the behaviour of the I

controller and P controller.
 This allows the advantages of both controller types to
be combined: fast reaction and compensation of
remaining system deviation.
 For this reason, the PI controller can be used for a large
number of controlled systems.
 In addition to proportional gain, the PI controller has a
further characteristic value that indicates the
behaviour of the I component: the reset time (integral-
action time).

PI-Controller

PI-Controller
This control mode results from a combination of

the proportional mode and the integral mode.
The output can be expressed as:

Proportional-integral (PI) action showing the reset
action of the integral contribution

Characteristics of PI-Controller
When error is zero, the controller output is fixed

at PI(0) .
If there is an error, the proportional term
contributes a correction, and the integral term
begins to increase/decrease the accumulated
value [ initially, pI (0)], depending on the sign of
the error and the direct or reverse action.

Electronic PI Controller
t
R2 R2 1
Vout  ( )Ve  ( )
R1 
R1 R 2C 0
Vedt  Vout (0)
Advantages of PI Controller
It provides better stability to the system.
It provides simplicity and directness.
It fully eliminates the steady state error i.e.

offset.
It has good transient response.
It stabilizes the controller gain.

Disadvantages of PI Controller
 It takes the longer time to stabilize the controller

gain than proportional controller action.
 It suffers from only oscillation induced by the

integral overshoot.
 It requires excessive stabilization, when the process

has many energy elements or dead time.



controllers

PD Controller
This control mode results from a combination of

the proportional mode and the derivative mode.
The output can be expressed as:

PD- Controller
 The PD controller consists of a combination of

proportional action and differential action.
 The differential action describes the rate of change of
the system deviation.
 The greater this rate of change – that is the size of the
system deviation over a certain period – the greater
the differential component.
 In addition to the control response of the pure P
controller, large system deviations are met with very
short but large responses.
 This is expressed by the derivative-action time (rate
time).

Proportional-derivative (PD) action showing the offset
error from the proportional mode

Electronic PD Controller
R2 R2 dVe
Vout  ( )Ve  ( ) R3C  Vo
R1  R3 R1  R3 dt
Advantages of PD Controller
It allows the rise of narrower proportional band

with its lesser offset.
It increases the controller gain during the error
change.
It can compensate the rapidly changing error.
It can handle the fast process load change.
It can compensate some of the lag in a process.
Disadvantages of PD Controller
It cannot eliminate the offset of proportional

controller.



controllers

PID- Controller
 In addition to the properties of the PI controller, the
PID controller is complemented by the D component.
 This takes the rate of change of the system deviation
into account.
 If the system deviation is large, the D component
ensures a momentary extremely high change in the
manipulated variable.
 While the influence of the D component falls of
immediately, the influence of the I component
increases slowly.
 If the change in system deviation is slight, the
behaviour of the D component is negligible

PID- Controller
 This behavior has the advantage of faster response and

quicker compensation of system deviation in the event
of changes or disturbance variables.
 The disadvantage is that the control loop is much more

prone to oscillation and that setting is therefore more
difficult.

PID- Controller

PID Controller
This is one of the most powerful but complex

controller mode operations combines the
proportional, integral and derivative modes. The
output for this mode can be expressed as:

The three-mode controller action exhibits proportional,
integral, and derivative action.

Problems with Individual Element P, I, D
Setpoint
P: Alarm: strong left turn needed

I: No problem: Past Right and Left errors are about
equal
D: No problem: Direction is parallel to setpoint

Time Analogy of PID Controller
 P: Present time. Only considers current position. Not

aware of current direction and of error history
 I: Past time. Only compiles an error sum of the past.

Not aware of current distance of signal from setpoint
and of current direction.
 D: Future time. Only considers current direction

(trend). Now aware of current distance of signal from
setpoint and of error history.

PID Response
1. Output without
control Positive 1
deviation
2. Proportional
action
Controlled
3. Integral action variable 2
4. Proportional + Set-point 4
integral action
5, 6
5. Proportional + 3
derivative action Negative
deviation
6. Proportional +
integral +
derivative action Time

Electronic PID Controller
R2 R2 1 R2 dVe
Vout  ( )Ve  ( )
R1 R1 RICI  Vedt ( ) RDCD
R1 dt
 Vout (0)
Advantages of PID Controller
It reduces the overshoot which often occurs

when integral control action is added to
proportional control action.
It counteracts the lag characteristics introduced
by the integral control action.
It approaches the tendencies towards
oscillations.
It senses the rate of movement away from the
set point and gives corrective action earlier than
only with P or PI
Advantages of PID Controller
It is more effective for control process with

many energy storage element than P+I control
action used alone.
It eliminates the offset i.e. steady state error

introduced by proportional control action.
It stabilizes the gain of the controller

Car Steering Analogy
References
Process Control and

Instrumentation
Technology – C. D.
Johnson

Online Tutorials
 http://www.electrical4u.com
/types-of-controllers-
proportional-integral-
derivative-controllers/
 http://elearning.vtu.ac.in/ne
wvtuelc/courses/06IT64.html
 https://www.facstaff.bucknell
.edu/mastascu/eControlHTM
L/Intro/Intro2.html
Thank You
Amit Nevase

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Rayat Shikshan Sanstha’s

KARMAVEER BHAURAO PATIL

9/27/2016 Amit Nevase 2

The student will be able to:

 Understand classifications of control system.

 Understand Steady state, time response, and frequency

 Analyze the Stability of control system using RH criteria.

 Understand the fundamentals and diff. Hardware parts of

 Draw ladder diagrams to program PLC

Teaching Scheme Examination Scheme

03 -- 02 03 100 50# --- 25@ 175

 Two tests each of 25 marks to be conducted as per the schedule

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 Introduction to Stability (4 Marks)

 Routh’s Stability Criterion (8 Marks)

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 Process Control System (4 Marks)

 Control Actions (8 Marks)

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Explain the need of Control actions

Differentiate between different types of Control

actions Such as P, I & D

Explain composite controllers; PI, PD, PID

 Process Control System (4 Marks)

 Control Actions (8 Marks)

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 Process Control System (4 Marks)

 Control Actions (8 Marks)

 Continuous Controller: Controller that responds to

 Discrete Controller: Controller that responds to discrete

 Process Equation: A process equation describes the

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 Process Control System (4 Marks)

 Control Actions (8 Marks)

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Controller output has two possible values.

Practical case (dead band)

system never reaches steady-state

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In a floating control, the specific output of the

Single Speed: In the single-speed floating mode, the

Multi Speed: In the multi-speed floating mode, not

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Only two output states i.e. ON and OFF.

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Response of ON-OFF controller is slow.

Not suitable for complex system

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 Process Control System (4 Marks)

 Control Actions (8 Marks)

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Proportional Integral Derivative

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