04 - Basic Control Theory

There are two basic modes of control: on/off control and continuous control. On/off control is the simplest form where the manipulated variable is either fully open or closed. Continuous control allows the manipulated variable to take on any intermediate position. Common controller types include proportional, proportional-integral-derivative, and cascade control which uses multiple controllers to improve system response.

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04 - Basic Control Theory

Uploaded by

Adrian Kaiden Negad

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BASIC CONTROL

THEORY
Two basic modes of control:

• On/Off control

• Continuous Control
On/Off control
• It is the simplest form of feedback control.
An on-off controller simply drives the
manipulated variable from fully closed to
fully open depending on the position of the
controlled variable relative to the setpoint.

(Ex.The valve is either fully open or fully

closed, with no intermediate state.)
ON/OFF Controller
Characteristics:
⮚ Occasionally known as two-step, two-position or
two point controller.
⮚ It has a setpoint
⮚ It has a switching differential
- Upper differential
- Lower differential
⮚ It could have an overshoot and undershoot
ON/OFF Controller
Applications
• Level
• Filling a tank (Water, oil, fuel etc.)
• Temperature
• Heating
• Cooling
• Pressure
• Compressor
Heating
• On/off switching action of the thermostat
Continuous control

- Once the system started, it will continuously

operate unless the system is turned off.

(Ex. The valve can move between fully open or

fully closed, or be held at any intermediate
position)
Continuous control

(Ex. The valve can move between fully open or fully

closed, or be held at any intermediate position)
Continuous Control Parameters
• Proportional Controller (P)
- needed to stop oscillations
• Derivative Controller (D)
- improve controller response to small but sudden deviations
• Integral Controller (I)
- eliminate offset or deviations
Continuous control
• Proportional Controller (P)
• Proportional + Derivative (P+D)
• Proportional + Integral (P+I)
• Proportional + Integral + Derivative (P+I+D)
Proportional Band
• The range of input signal for the output
signal to react

• Formula:

Proportional Band x Transfer ratio = 100%

PB x H = 100%
PB and H are inversely proportional

Proportional Band Transfer ratio/Gain

(PB) (H)

100% 1 100%

100%
50% 2

100%
25% 4

PB x H = 100%
Proportional Band
Proportional Band
Proportional Band
Example 5.2.1 Consider a space heating application with
the following characteristics:

• The required temperature in the building is 18°C.

• The room temperature is currently 18°C, and the valve is 50%
open.
• The proportional band is set at 6% of 100°C = 6°C, which
gives 3°C either side of the 18°C set point
Proportional Controller
Characteristics
⮚ It is a continuous controller
⮚ It has a setpoint
⮚ It has always an offset
⮚ PB is directly proportional to the offset
⮚ PB is inversely proportional to transfer ratio
⮚ Very high transfer ratio could result to hunting
Proportional + Derivative (P+D)
Characteristics
⮚ It is a continuous controller
⮚ It has a setpoint
⮚ It has always an offset
⮚ It has a derivative function that minimize error
⮚ It has a derivative time as variable
⮚ Error is directly proportional to offset
Proportional + Integral (P+I)
Characteristics
⮚ It is a continuous controller
⮚ It has a setpoint
⮚ It has no offset
⮚ It has a integral function that eliminates offset
⮚ It has a integral time as variable
Proportional + Integral + Derivative
Characteristics
(P+I+D)
⮚ It is a continuous controller
⮚ It has a setpoint
⮚ It has no offset
⮚ It has a integral function that eliminates offset
⮚ It has a derivative function that minimize error
Proportional + Integral + Derivative
(P+I+D)
Controller System
• Feedback controller
• Feedforward controller
• Split-range controller
• Cascade controller
Open loop control
Feedback control
Feedforward Controller
Split-range Controller
• Single controller is employed to control two final-control
element. (two valves for example).
1/17/2023 42

Split-range Controller
1/17/2023
A better way (Cascade Control)
Cascade Control