Unit-V Controllers

Un-controlled vs Controlled System

 Blue response resembles an un-controlled system with un-desired
response
 This response is oscillatory as well as it takes much longer to
settle down
 Why: Inertia effect, friction, backlash etc
 The red response is of a controlled system with desired response
 This response contains no oscillations and it settles to equilibrium /
steady state in lesser time
 Controllability

 Before a controller is implemented it is necessary to determine

the system is controllable

 Test the “Controllability” of the system

 Controllability is the ability of the system to be controlled

provided an external disturbance is available.

 Proportional Integral Derivative Control

+ ep P
Input ∑ PID Plant Output

Block Diagram of PID Controller

u=control input / control effort & e=error

e=SP-PV=Input-Output

where, SP=Set Point & PV=Process Variable/control variable

 Proportional Integral Derivative Control

 PID is a combination of three control modes:

 Proportional

 Integral

 Derivative

 Combining modes depends on performance desired

 Options include: P, PI, PD, PID

 It is a control algorithm that operated on closed loop / feedback

approach
 Why is PID used

Despite significant development in control theory, PID is popular in

industry because of following reasons:

 Simple structure

 Easy to design and implement

 Robust performance over wide range of variation in process /

measurement uncertainties
 Proportional Control

+ ep% Proportiona P%
Input ∑ Plant Output
l (Kp)

_
 Proportional Control

P  u P t   K P eP  PO

 In Proportional Control, the control signal, u, is directly

proportional to the error, e.

 As the gain is increased the system responds faster to changes in

set-point but becomes progressively under damped and eventually

unstable.
 Proportional Control Action

PB

P Control Signal
PB= (100/ Kp) %
Kp = Kc
 Advantages of Proportional Control

 Simple and easy to design and tune

 Rapid Response

 Reduces Rise Time

 Reduces Steady State Error

 Dis-advantages of Proportional Control

Disadvantages:
 Not possible to eliminate Steady State Error / Offset

 Could lead to instability

 Rise in overshoot/ oscillations

 Application of Proportional Control

Applications:
 Float Valve, Thermostat etc
 Integral Control

+ ep% P%
Input ∑ Integral (Ki) Plant Output

_
 Integral Control

 Rate of change of integral control signal is proportional to

error.
 Control signal proportional to integral of error.

 When the error is zero, the control signal is a constant value.

 When the error is constant, the control signal varies at constant

rate.
Integral Control Action

I Control Signal
 Advantages of Integral Control
Advantages:
 Eliminates steady state error/offset

 Decreases Rise Time

 Dis-advantages of Integral Control

Disadvantages:

 Leads to minor increase in overshoot

 Could make the system less stable

 Increases Settling time

 Derivative Control

+ ep% Derivative P%
Input ∑ Plant Output
(KD)

_
 Derivative Control

P  uD t   K D de dt P 0

 Derivative control produces a control signal proportional to the

rate at which the error is changing. Also known as rate
controller.
 While sudden/rapid change in error leads to a control signal of
larger magnitude, gradual change leads to small magnitude.
 The derivative control will generate no signal if the error is
constant
 Thus, not used alone; used with P control
Derivative Control Action

D Control Signal
 Advantages of Derivative Control

Advantages:

 Reduces Settling time

 more fast

 Reduces Overshoot

 Adds more stability if use with proportional controller

 Dis-advantages of Derivative Control

Disadvantages:

 Not possible to eliminate Steady State Error / Offset

 Not possible to use alone

 For small error, the speed of system response is also slow

 Amplifies Noise
 Parallel Form: PI Control

H s   K P  K I
s
Where,
K P  Proportional Gain, K I  Integral Gain

u t   u P t   u I t   K P e  K I  edt

 Proportional Integral (PI) Control helps minimise rise time,

settling time as well as eliminate steady state error.
 PI: Parallel / Non-Interacting Form

ud
Kds

Ki ui
s
+
ysp + e +
y
 Kp up
+
 u
plant
-

 Derivative Action does not Interact with Integral Action

 Parallel Form: PD Control

H s   K P  K D s
Where,
K P  Proportional Gain, K D  Derivative Gain


u t   u P t   u D t   K P e  K D de
dt

 Proportional Derivative (PD) Control helps reduce rise time,

settling time as well as minimize overshoot.

 PD: Parallel / Non-Interacting Form

ud
Kds

Ki ui
s
+
ysp + e +
y
 Kp up
+
 u
plant
-
 Transfer Function of PID control
Transer Function :
H s   K P  I  K D s
K
s
Where,
K P  Proportional Gain, K I  Integral Gain
K D  Derivative Gain
Control Signal :
u t   u P t   u I t   u D t 
 K P e  K I  edt  K D de  dt

Where,
e  Error  Differencebetween reference& measured signal
 PID: Parallel / Non-Interacting Form

ud
Kds

Ki ui
s
+
ysp + e +
y
 Kp up
+
 u
plant
-
Time Domain Specifications

Unit Step Response of Second Order System

Effect of P, I & D on Transient Specifications

Action Rise Overshoot Settling SS

Time Time Error

KP Decrease Increase Small Decrease

Change

KI Decrease Increase Initially Eliminate

Decrease then
Increase

KD Small Decrease Decrease Small

Change Change
 PID: Stepwise Procedure for Manual Tuning

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

 PID: Stepwise Procedure for Manual Tuning
5. Adjust each of P, I & D until you obtain a desired overall
response referring to the table shown previously to find out
which controller controls what characteristics.

6. It is not necessary to implement all three controllers (P, I & D)

into a single system. For example, if a PI controller gives a good
enough response, then you don't need to add D control to the
system. Simple is better.
 Applications of PID Control

1. Regulation of Processes in Industry

1. Flow

2. Temperature

3. Pressure etc

2. Servo / DC motor Control

3. Linear Position Control

 Numerical

Figure shows an error time graph. Sketch the PID controller

output w.r.t time. Assume kp = 10, ki = 2, kd = 0.5 and P0=0 i.e the
controller output is zero when the error is zero.
 Solution
Substituting values for t, following table can be generated for
values of u

t ≥0 ≤1 ≥1 ≤3 ≥3

u 0.5 11.5 11 15 5