PID Controllers

Control Systems
Course Instructor: Deepthi M S
AY: 2023-24
The Closed Loop Control System
+ e(t) u(t) Actual Output
SP Σ Controller Process
-

MV

This is the ‘classic’ closed loop block diagram representation of a control system
• SP→ Set point or Reference input
• MV→ Measured variable
• e(t)→ Error signal
• u(t)→ Control action/signal

12-02-2024 Deepthi M S, Assistant Professor, Dept of ECE, NIE, Mysuru 2

What should be nature of the controller??

• We know that the process is a dynamic system:

• For the controller to deal with this, it makes sense that it should be a
dynamic system too

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A Dynamic Controller
• We said that since the process is dynamic (dependent on inputs made
at different times), it makes sense that the controller should be too
• How controller behave for input error and time?
• ‘Present’
• ‘Past’
• ‘Future’

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Splitting the Controller

r(t) Present
+ e(t) u(t) c(t)
SP Σ Past Process
-
Future

MV

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The ‘Present’: Proportional Controller
• This part of the controller is only concerned with what the error is
now
• Let’s take a simple law: let the control signal be proportional to the
error: 𝒆 𝒕 𝒖 𝒕
𝒖 𝒕 ∝𝒆 𝒕 Present
𝒆 𝒕 𝒖 𝒕
𝒖 𝒕 = 𝑲𝒑 𝒆 𝒕 𝑲𝒑
PROPORTIONAL CONTROLLER

𝑲𝒑 = 𝒑𝒓𝒐𝒑𝒐𝒓𝒕𝒊𝒐𝒏𝒂𝒍 𝒈𝒂𝒊𝒏

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Proportional Control
• This is what is referred to as proportional control. The control action
at any instant is the same as a constant times the error at the same
instant
• The constant 𝑲𝒑 is the Proportional Gain, and is the first of our
controller’s parameters

12-02-2024 Deepthi M S, Assistant Professor, Dept of ECE, NIE, Mysuru 7

Proportional Control
𝒖 = 𝑲𝒑 × 𝒆
Proportional
+ e(t) u(t)
SP Σ Past Process
-
Future

MV

In time domain :𝒖 = 𝑲𝒑 × 𝒆

In Laplace Domain : 𝐔(𝐬) = 𝑲𝒑 × 𝑬(𝒔)

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Is Proportional Control enough?
• Intuitively it seems like it should be fine on its own: when the error is
big, the control input is big to correct it. As the error reduced so does
the control input.
• But there are problems…

12-02-2024 Deepthi M S, Assistant Professor, Dept of ECE, NIE, Mysuru 9

Limitations of Proportional-only (P) control
• Using P controller is simple, but often insufficient because:
1. In case of P controller , there is an offset error between desired output and actual
output.
2. If 𝑲𝒑 is large, system may oscillate (becomes unstable)

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Proportional Control
• For the sake of simplicity, we consider the transfer function of the plant as a
𝑲
simple first order system as: 𝑷 𝒔 =
𝟏+𝝉𝒔

1
Offset error → steady state error for unit step input 𝑒𝑠𝑠 =
1+𝐾𝐾𝑝

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“P” control summary
Cons Pros
• Problem 1: oscillations • Rapid response to track the error
• Prone to be unstable signal
• Problem 2: steady state error

12-02-2024 Deepthi M S, Assistant Professor, Dept of ECE, NIE, Mysuru 12

Solving P control’s problems
• How to get rid of steady state error?
• Let’s ignore the present for the moment and concentrate on what has
happened in the past

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 Solving steady state error: ‘the Past’
Proportional
+ e u
SP Σ Past Process
-
Future

MV

• Let’s look at the error in the past

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Integral Action
• We can let the control be given by the sum of past values of the
error, scaled by some gain.
• In continuous time the sum is an integral:
𝒕
𝒖 𝒕 ∝ න 𝒆 𝝉 𝒅𝝉
𝟎

𝒕
𝒖 𝒕 = 𝑲𝒊 න 𝒆 𝝉 𝒅𝝉
𝟎

𝑲𝒊 = 𝑰𝒏𝒕𝒆𝒈𝒓𝒂𝒍 𝒈𝒂𝒊𝒏
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Integral Action 𝒕
𝒖 = 𝑲𝒊 න 𝒆 𝝉 𝒅𝝉
𝟎
Proportional
+ e(t) u(t)
SP Σ Integral Process
-
Future

MV

𝒕
In time domain : 𝒖 = 𝑲𝒊 ‫𝝉𝒅 𝝉 𝒆 𝟎׬‬

𝑲𝒊 𝑬(𝒔)
In Laplace Domain : 𝐔 𝐬 =
𝒔
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Integral Control
• If we consider the integral action of the controller only, the closed loop system for
the same process is represented by the block diagram

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 Integral Control
• From the first observation, it can be seen that with integral controller, the order of
the closed loop system increases by one.
• Increase in order may cause instability of the closed loop system, if the process is
of higher order dynamics.
• For step input

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Integral Control
Pros
• Major advantage of integral control action is that the steady state error due to step
input reduces to zero.
Cons
• But simultaneously, the system response is generally slow, oscillatory and causes
overshoot.
• Integral action will take time to reach the desired value.

12-02-2024 Figure: Step Response of Integral control

Deepthi M S, Assistant Professor, Dept of ECE, NIE, Mysuru 19 Action
Proportional-Integral (PI) controller
• We can add an integral term to the proportional controller. This is
known as PI controller.
𝒕
𝒖 = 𝑲𝒑 𝒆 𝒕 + 𝑲𝒊 න 𝒆 𝝉 𝒅𝝉
𝟎
• The main advantages of the PI controller are:
1. It eliminates steady-state error.
2. It can help with stability of the system, especially if 𝑲𝒑 is large.

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Comparison among transient responses with
P, I and PI controller

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Solving P control’s problems revisited
• We solved the steady state error by adding integral action (summing
the past)
• How can we solve the oscillation problem?
• Let’s look at the future!

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 Solving oscillations: ‘the Future’
Proportional
+ e u
SP Σ Integral Process
-
Future

MV

• Let’s look at the error in the future

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Derivative action
• Let’s let the control be dependent on the derivative of the error:
𝒅𝒆(𝒕)
𝒖 = 𝑲𝒅
𝒅𝒕
• Here 𝑲𝒅 is the derivative gain.

• What does the derivative term do to the behavior of the system?

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Derivative Action
𝒅𝒆(𝒕)
𝒖 = 𝑲𝒅
𝒅𝒕
Proportional
+ e u
SP Σ Integral Process
-
Derivative

MV

𝒅𝒆(𝒕)
In time domain : 𝒖= 𝑲𝒅
𝒅𝒕

In Laplace Domain : 𝐔 𝐬 = 𝒔𝑲𝒅 𝑬(𝒔)

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Derivative Control
Pros
• Predicts system behavior and thus improves settling time/transient response and
stability of the system.
• Helps to reduce overshoots.
Cons
• Amplifies noise.

12-02-2024 Figure: Step Response of derivative control26Action

Deepthi M S, Assistant Professor, Dept of ECE, NIE, Mysuru
Proportional-Derivative (PD) controller
• We can add an derivative term to the proportional controller. This is
known as PD controller.
𝒅𝒆(𝒕)
𝒖 = 𝑲𝒑 𝒆 𝒕 + 𝑲𝒅
𝒅𝒕
The main advantages of PD controllers:
✓It can reduce the overshoot of proportional controller response,
because PD controller takes into account the rate of change of error.
✓It improves system’s tolerance to external disturbances

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Comparison among transient responses with P
&PD controller

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PID Controller!
𝒕
𝒅𝒆(𝒕)
𝒖 = 𝑲𝒑 𝒆 𝒕 + 𝑲𝒊 න 𝒆 𝝉 𝒅𝝉 + 𝑲𝒅
𝟎 𝒅𝒕
Proportional
+ e u
SP Σ Integral Process
-
Derivative

MV

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PID Controller

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Continued…
• The overall control function of PID controller can also be expressed as ,
𝑡
𝑑𝑒(𝑡)
𝑢 𝑡 = 𝐾𝑝 𝑒 𝑡 + 𝐾𝑖 න 𝑒 𝑡 𝑑𝑡 + 𝐾𝑑
0 𝑑𝑡
Where , 𝑲𝒑 = is the proportional gain, a tuning parameter

𝑲𝒑
𝑲𝒊 = = is the intergral gain, a tuning parameter, 𝝉𝒊 =integral time
𝝉𝒊

𝑲𝒅 = 𝝉𝒅 𝑲𝒑 = is the derivative gain, a tuning parameter, 𝝉𝒅 =derivative time

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PID Controller
• Finally we combined all the three terms,
𝑡
𝑑𝑒(𝑡)
𝑢 𝑡 = 𝐾𝑝 𝑒 𝑡 + 𝐾𝑖 න 𝑒 𝑡 𝑑𝑡 + 𝐾𝑑
0 𝑑𝑡
This has advantages of ALL three types of controllers (P,I and D controllers)
✓Removal of steady state error using I control action.
✓Reduce amount of overshoot
✓Improves the transient response to make it faster.
✓Improve stability of the system
1 𝑡 𝑑𝑒(𝑡)
𝑢 𝑡 = 𝐾𝑝 𝑒 𝑡 + න 𝑒 𝑡 𝑑𝑡 + 𝜏𝑑
𝜏𝑖 0 𝑑𝑡

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Continued…

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Step Responses

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How do PID parameters affect system
dynamics??
• The effects of increasing each of the controller parameters 𝐾𝑝 , 𝐾𝑖 & 𝐾𝑑 cab be
summarized

• NT – No definite trend , Minor change (Minimal Effect)

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