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Control Engineering
A guide for beginners

Manfred Schleicher
Frank Blasinger
Preface
This work is intended to be of practical assistance in control engineering technology. It will help
you to select and set up a suitable controller for various applications. It describes the different
types of controller and the options for setting them up. The explanations and definitions are provid-
ed without using advanced mathematics, and are mainly applied to temperature-control loops.
In this new and revised edition, Chapters 3 and 5 have been extensively updated.
We wish to thank our colleagues for their valuable support in writing this book.

Fulda, January 2003

Manfred Schleicher Frank Blasinger

JUMO GmbH & Co. KG, Fulda, Germany

Copying is permitted with source citation!

3rd Edition

Part number: 00323761

Book number: FAS 525
Printing date: 02.04
ISBN: 3-935742-01-0
 Inhalt
1 Basic concepts ............................................................................ 7
1.1 Introduction .................................................................................................. 7
1.2 Concepts and designations ........................................................................ 7
1.3 Operation and control .................................................................................. 7
1.4 The control action ...................................................................................... 11
1.5 Construction of controllers ....................................................................... 12
1.6 Analog and digital controllers ................................................................... 18
1.6.1 Signal types .................................................................................................. 18
1.6.2 Fundamental differences .............................................................................. 20
1.7 Manipulating devices ................................................................................. 23
1.8 Other methods of achieving constant values .......................................... 25
1.8.1 Utilizing physical effects ............................................................................... 25
1.8.2 Constructional measures ............................................................................. 25
1.8.3 Maintaining constant values by operation ................................................... 26
1.9 Main areas of control engineering ............................................................ 27
1.10 Tasks of the control engineer .................................................................... 28

2 The process ................................................................................ 29

2.1 Dynamic action of technical systems ...................................................... 29
2.2 Processes with self-limitation ................................................................... 32
2.3 Processes without self-limitation ............................................................. 33
2.4 Processes with dead time ......................................................................... 35
2.5 Processes with delay ................................................................................. 37
2.5.1 Processes with one delay (first-order processes) ........................................ 38
2.5.2 Processes with two delays (second-order processes) ................................. 39
2.5.3 Processes with several delays (higher-order processes) ............................. 41
2.6 Recording the step response .................................................................... 41
2.7 Characteristic values of processes .......................................................... 43
2.8 Transfer coefficient and working point .................................................... 43
Inhalt
3 Continuous controllers .............................................................. 45
3.1 Introduction ................................................................................................ 45
3.2 P controller ................................................................................................. 45
3.2.1 The proportional band .................................................................................. 47
3.2.2 Permanent deviation and working point ...................................................... 49
3.2.3 Controllers with dynamic action ................................................................... 52
3.3 I controller ................................................................................................... 53
3.4 PI controller ................................................................................................ 54
3.5 PD controller ............................................................................................... 57
3.5.1 The practical D component - the DT1 element ............................................ 60
3.6 PID controller .............................................................................................. 61
3.6.1 Block diagram of the PID controller ............................................................. 62

4 Control loops with continuous controllers .............................. 63

4.1 Operating methods for control loops with continuous controllers ....... 63
4.2 Stable and unstable behavior of the control loop ................................... 64
4.3 Setpoint and disturbance response of the control loop ......................... 65
4.3.1 Setpoint response of the control loop .......................................................... 66
4.3.2 Disturbance response .................................................................................. 67
4.4 Which controller is best suited for which process? ................................ 68
4.5 Optimization ................................................................................................ 69
4.5.1 The measure of control quality ..................................................................... 70
4.5.2 Adjustment by the oscillation method .......................................................... 71
4.5.3 Adjustment according to the transfer function or process step response ... 72
4.5.4 Adjustment according to the rate of rise ...................................................... 75
4.5.5 Adjustment without knowledge of the process ............................................ 76
4.5.6 Checking the controller settings .................................................................. 77
 Inhalt
5 Switching controllers ................................................................ 79
5.1 Discontinuous and quasi-continuous controllers ................................... 79
5.2 The discontinuous controller .................................................................... 80
5.2.1 The process variable in first-order processes .............................................. 81
5.2.2 The process variable in higher-order processes .......................................... 83
5.2.3 The process variable in processes without self-limitation ........................... 85
5.3 Quasi-continuous controllers: the proportional controller .................... 86
5.4 Quasi-continuous controllers: the controller with dynamic action ....... 89
5.4.1 Special features of the switching stages ..................................................... 90
5.4.2 Comments on discontinuous and quasi-continuous
controllers with one output .......................................................................... 90
5.5 Controller with two outputs: the 3-state controller ................................ 91
5.5.1 Discontinuous controller with two outputs ................................................... 91
5.5.2 Quasi-continuous controller with two outputs,
as a proportional controller .......................................................................... 93
5.5.3 Quasi-continuous controller with two outputs and dynamic action ............ 94
5.5.4 Comments on controllers with two outputs ................................................. 94
5.6 The modulating controller ......................................................................... 95
5.7 Continuous controller with integral motor actuator driver .................... 98

6 Improved control quality through special controls .............. 101

6.1 Base load .................................................................................................. 101
6.2 Power switching ....................................................................................... 103
6.3 Switched disturbance correction ........................................................... 104
6.4 Switched auxiliary process variable correction .................................... 107
6.5 Coarse/fine control .................................................................................. 107
6.6 Cascade control ....................................................................................... 108
6.7 Ratio control ............................................................................................. 110
6.8 Multi-component control ......................................................................... 111
Inhalt
7 Special controller functions .................................................... 113
7.1 Control station / manual mode ............................................................... 113
7.2 Ramp function .......................................................................................... 114
7.3 Limiting the manipulating variable ......................................................... 114
7.4 Program controller ................................................................................... 115
7.5 Self-optimization ...................................................................................... 116
7.6 Parameter/structure switching ............................................................... 118
7.7 Fuzzy logic ................................................................................................ 118

8 Standards, symbols, literature references ............................ 121

 1 Basic concepts
1.1 Introduction
Automatic control is becoming more and more important in this age of automation. In manufactur-
ing processes it ensures that certain parameters, such as temperature, pressure, speed or voltage,
take up specific constant values recognized as the optimum, or are maintained in a particular rela-
tionship to other variables. In other words, the duty of control engineering is to bring these param-
eters to certain pre-defined values (setpoints), and to maintain them constant against all disturbing
influences. However, this apparently simple duty involves a large number of problems which are
not obvious at first glance.
Modern control engineering has links with almost every technical area. Its spectrum of application
ranges from electrical engineering, through drives, mechanical engineering, right up to manufactur-
ing processes. Any attempt to explain control engineering by referring to specialized rules for each
area would mean that the control engineer has to have a thorough knowledge of each special field
in which he has to provide control. This is simply not possible with the current state of technology.
However, it is obvious that there are certain common concepts behind these specialized tasks. It
soon becomes clear, for example, that there are similar features in controlling a drive and in pres-
sure and temperature control: these features can be described by using a standard procedure. The
fundamental laws of control engineering apply to all control circuits, irrespective of the different
forms of equipment and instruments involved.
A practical engineer, trying to gain a better understanding of control engineering, may consult vari-
ous books on the subject. These books usually suggest that a more detailed knowledge of control
engineering is not possible, without extensive mathematical knowledge. This impression is com-
pletely wrong. It is found again and again that, provided sufficient effort is made in presentation, a
clear understanding can be achieved, even in the case of relationships which appear to demand an
extensive mathematical knowledge.
The real requirement in solving control tasks is not a knowledge of many formulae or mathematical
methods, but a clear grasp of the effective relationships in the control circuit.

1.2 Concepts and designations

Today, thanks to increasing standardization, we have definite concepts and designations for use in
control engineering. German designations are laid down in the well-known DIN Standard 19 226
(Control Engineering, Definitions and Terms). These concepts are now widely accepted in Germany.
International harmonization of the designations then led to DIN Standard 19 221 (Symbols in con-
trol engineering), which permits the use of most of the designations laid down in the previous stan-
dard. This book keeps mainly to the definitions and concepts given in DIN 19 226.

1.3 Operation and control

In many processes, a physical variable such as temperature, pressure or voltage has to take up a
specified value, and maintain it as accurately as possible. A simple example is a furnace whose
temperature has to be maintained constant. If the energy supply, e.g. electrical power, can be var-
ied, it is possible to use this facility to obtain different furnace temperatures (Fig. 1). Assuming that
external conditions do not change, there will be a definite temperature corresponding to each value
of the energy supply. Specific furnace temperatures can be obtained by suitable regulation of the
electrical supply.

However, if the external conditions were to change, the temperature will differ from the anticipated
value. There are many different kinds of such disturbances or changes, which may be introduced
into the process at different points. They can be due to variations in external temperature or in the

JUMO, FAS 525, Edition 02.04 7

1 Basic concepts

Fig. 1: Operation and control

8 JUMO, FAS 525, Edition 02.04

 1 Basic concepts
heating current, or caused by the furnace door opening. This type of temperature control takes no
account of the actual furnace temperature, and a deviation from the required value may not be no-
ticed by the operator.
Some form of control is necessary if the furnace temperature has to maintain its value in spite of
changes in external conditions, or non-constant disturbances which cannot be predicted. In its
simplest form the control may just be a thermometer which measures and indicates the actual fur-
nace temperature. The operator can now read the furnace temperature, and make appropriate ad-
justments to the energy supply, in the event of a temperature deviation (Fig. 1).
The energy supply is now no longer pre-determined, but is linked to the furnace temperature. This
measure has converted furnace operation into furnace control, with the operator acting as the con-
troller.
Control involves a comparison of the actual value with the desired value or setpoint. Any deviation
from the setpoint leads to a change to the energy supply. The energy input is no longer fixed, as is
the case with simple operation, but depends on the actual process value attained. We refer to this
as a closed control loop (Fig. 2)
If the connection to the temperature probe is broken, the control loop is open-circuited. Because
there is no feedback of the process value, an open control loop can only be used for operation.

Fig. 2: The closed control loop

The control loop has the following control parameters (the abbreviations conform to DIN 19 226):
Process variable (process value, PV) x: the process value is the control loop variable which is
measured for the purpose of control and which is fed into the controller. The aim is that it should al-
ways be made equal to the desired value through the action of the control (example: actual furnace
temperature).
Desired value (setpoint, SP) w: the predetermined value at which the process variable has to be
maintained through the action of the control (example: desired furnace temperature). It is a param-
eter which is not influenced by the control action, and is provided from outside the control loop.
Control difference (deviation) e: difference between desired value and process variable e = w - x
(example: difference between required and actual furnace temperature).

JUMO, FAS 525, Edition 02.04 9

1 Basic concepts
Disturbance z: an effect whose variation exerts an unfavorable influence on the process value (in-
fluence on the controlled variable through external effects).
Controller output YR: it represents the input variable of the manipulating device (the manipulator
or actuator).
Manipulating variable y: a variable through which the process value can be influenced in the re-
quired way (e.g. heating power of the furnace). It forms the output of the control system and, at the
same time, the input of the process.
Manipulation range Yh: the range within which the manipulating variable can be adjusted.
Control loop: connection of the output of the process to the input of the controller, and of the con-
troller output to the process input, thus forming a closed loop.
It consists of controller, manipulator and process.
The physical units involved can differ widely:
process value, setpoint, disturbance and deviation usually have the same physical units such as
°C, bar, volts, r.p.m., depth in metres etc. The manipulating variable may be proportional to a heat-
ing current in amps or gas flow in m3/min, or is often a pressure expressed in bar. The manipulation
range depends on the maximum and minimum values of the manipulating variable and is therefore
expressed in the same units.

10 JUMO, FAS 525, Edition 02.04

 1 Basic concepts
1.4 The control action
The basic task of the controller is to measure and prepare the process value PV, and compare it
with the setpoint SP; as a result it produces the appropriate manipulating variable MV. The control-
ler has to perform this action in a way which compensates for the dynamic characteristics of the
controlled process. This means that the process value PV should reach the setpoint SP as rapidly
as possible, and then fluctuate as little as possible about it.
The action of the controller on the control loop is characterized by the following parameters:
- the overshoot: Xo ,
- the approach time: Ta, the time taken for the process value PV to reach the
new setpoint SP for the first time,
- the stabilization time: Ts,
- and also agreed tolerance limits ± ∆x (see Fig. 3)

Fig. 3: Criteria for control action

The controller is said to have “stabilized” when the process is operating with a constant manipulat-
ing variable MV, and the process value PV is moving within the agreed tolerance band ± ∆x.
In the ideal case the overshoot is zero. In most cases this cannot be combined with a short stabili-
zation time. In certain processes, e.g. speed controls, rapid stabilization is important, and a slight
overshoot beyond the setpoint can be tolerated. Other processes, such as plastics production ma-
chinery, are sensitive to a temperature overshoot, since this can quite easily damage the tool or the
product.

JUMO, FAS 525, Edition 02.04 11

1 Basic concepts
1.5 Construction of controllers
The choice of a suitable controller depends essentially on its application. This concerns both its
mechanical features and its electrical characteristics. There is a wide range of different designs and
arrangements, so only a few will be discussed here. The discussion is limited to electronic control-
lers, and excludes mechanical and pneumatic control systems. The user, who is faced with choos-
ing a controller for his particular application, will be shown initially which types are available. The
listing is not intended to be comprehensive.

Mechanical variations:
- Compact controllers (process controllers) contain all the necessary components (e.g. display,
keypad, input for setpoint etc.) and are mounted in a case which includes a power supply. The
housing usually has one of the standard case sizes, 48mm x 48mm, 48mm x 96mm,
96mm x 96mm or 72mm x 144mm.
- Surface-mounting controllers are usually installed inside control cabinets and mounted on a
DIN-rail or the like. Indicating devices such as process value display or relay status LEDs are not
usually provided, as the operator does not normally have access to these controllers.
- Rack-mounting controllers are intended for use in 19-inch racks. They are only fitted with a
front panel and do not have a complete housing.
- Card-mounted controllers consist of a microprocessor with suitable peripherals, and are used
in various housing formats. They are frequently found in large-scale installations in conjunction
with central process control systems and PLCs. These controllers again have no operating or in-
dicating devices, since they receive their process data via an interface from the central control
room through software programs.

Functional distinctions
The terms that are used here are covered and explained in more detail in later chapters (see Fig. 4).
- Continuous controllers
(usually referred to as proportional or analog controllers)
Controllers which receive a continuous (analog) input signal, and produce a controller output
signal that is also continuous (analog). The manipulating signal can take on any value within the
manipulation range. They usually produce output signals in the range 0 — 20mA, 4 — 20mA or
0 — 10V. They are used to control valve drives or thyristor units.

- Discontinuous controllers
2-state controllers (single-setpoint controllers) with one switching output are controllers that pro-
duce a discontinuous output for a continuous input signal. They can only switch the manipulating
variable on and off, and are used, for instance, in temperature-control systems, where it is only
necessary to switch the heating or cooling on or off.
3-state controllers (double-setpoint controllers) have two switching control outputs. They are sim-
ilar to 2-state controllers but have two outputs for manipulating variables. These controllers are
used for applications such as heating/cooling, humidifying/dehumidifying etc.

12 JUMO, FAS 525, Edition 02.04

 1 Basic concepts
- Quasi-continuous controllers
Quasi-continuous controllers with one switching output are controllers that achieve a quasi-
continuous action. The average value of the controller output over a defined time interval shows
approximately the same time-dependent variation as a continuous controller. Applications are, for
instance, temperature control (heating or cooling), where improved control-loop performance is re-
quired. In practice, quasi-continuous controllers with one switching output are also described as 2-
state controllers.
Quasi-continuous controllers with two switching outputs can steer a process in opposing di-
rections (for example, heating/cooling or humidifying/dehumidifying). These controllers also
achieve a quasi-continuous action, by pulsing the switched outputs. In practice, all controllers that
use two outputs to steer a process in opposing directions are referred to as 3-state controllers.
Here the outputs need not necessarily be switched, but can be continuous.

- Modulating controllers
Modulating controllers have two switching outputs and are specially designed for motorized actua-
tors which are used, for instance, to drive a valve to the open and closed positions.

- Actuating controllers
Actuating controllers are also used for motorized actuators and again have two switching outputs.
They differ from modulating controllers by requiring feedback of the actuator position (stroke re-
transmission).

JUMO, FAS 525, Edition 02.04 13

1 Basic concepts

Fig. 4: Difference in controller functions

14 JUMO, FAS 525, Edition 02.04

 1 Basic concepts
All these types of controller (apart from the discontinuous controller) can be implemented with dif-
ferent forms of dynamic response. This is often referred to as the “controller structure”. The terms
used are P, PI, PD or PID controllers (see Fig. 5).
Different setpoint arrangements
The setpoint can be set manually on the controller by means of a potentiometer, or by using keys
to input digital values. The setpoint is indicated in either analog form (pointer of a setpoint knob), or
digitally as a numerical value.
Another possibility is the use of an external setpoint. The setpoint is then fed in as an electrical sig-
nal (e.g. 0 — 20mA) from some external device. As well as these analog signals, it is also possible
to use digital signals for setting the setpoint. The signals are fed into the controller through a digital
interface and can be derived from another digital instrument, or from a computer linked to the con-
troller. If this external setpoint operates according to a fixed time sequence (program), this is also
referred to as program or sequence control.

JUMO, FAS 525, Edition 02.04 15

1 Basic concepts

Fig. 5: Typical step responses

Evaluation of the process variable
The process variable must be available as an electrical signal. Its form depends on the sensor used
and on the processing of this signal. One possibility is to connect the transducer signal (sensor,
probe) directly to the controller input. The controller must then be capable of processing this signal;
in many temperature probes the output signal is not a linear function of the temperature, and the
controller must have a suitable linearization facility.

16 JUMO, FAS 525, Edition 02.04

 1 Basic concepts
The other possibility is the use of a transmitter.
The transmitter converts the sensor signal into a standard signal (0 — 20mA, 0 — 10V) and usually
also linearizes the signal. In this case the controller need only have an input for standard signals.
The process value is normally displayed on the controller. This can be in the form of a digital dis-
play (numerical indication), which has the advantage of being readable from a longer distance. The
advantage of the analog display (pointer movement) is that trends such as rising or falling of the
process variable are clearly visible, as well as the position within the control range.

Fig. 6: Example for external connections to a controller

In many cases the process value requires further processing, e.g. for a recorder or for remote indi-
cation. Most controllers provide a process value output where the process variable is given out as
a standard signal.
In order to signal movements of the process variable above or below certain values, the controllers
are provided with so-called limit comparators (limit value or alarm contacts), which provide a signal
if the process value infringes set limits. This signal can then be used to trigger alarms or similar
equipment.

JUMO, FAS 525, Edition 02.04 17

1 Basic concepts
1.6 Analog and digital controllers

1.6.1 Signal types

Technical systems can be classified according to the type of signals at their inputs and outputs.
The signals differ in their technical nature. In control systems we often find temperature, pressure,
current or voltage as signal carriers which, at the same time, determine the units of measurement.
The signals can be divided into different types, depending on their range of values and variation
with time.

Fig. 7: Various signal forms

18 JUMO, FAS 525, Edition 02.04

 1 Basic concepts
Analog signals
Analog signals have the greatest number of possible signal levels. The measuring device converts
the process variable PV, for example a temperature, into a signal corresponding to this tempera-
ture. Each temperature value corresponds to a value of the electrical signal. If the temperature now
varies continuously, the signal will also vary continuously. We call this a value-continuous signal.
The essential element in defining analog signals is that such signals pass continuously through a
full range of values.
The time course is also continuous; at every instant the signal value corresponds to the tempera-
ture at this instant. It is therefore also a time-continuous signal (see Fig. 7a). In an application where
the measuring device operates through a channel selection switch in which the contact arm is ro-
tating continuously, the measured signal is only sampled at certain discrete times. The signal is
then no longer time-continuous, but time-discrete (see Fig. 7b). On the other hand, the measure-
ment remains value-continuous, since the measured signal is fully reproduced at each sampling in-
stant.
Digital signals
Digital signals belong to the group of discrete signals. Here the individual signal levels are repre-
sented by numerals (digitally). This means that discrete signals can only take up a limited number
of values. The variation of such discrete signals with time always appears as a series of steps.
A simple example of a system with discrete signals is the control system of a passenger lift or ele-
vator, which can only take up discrete values for the height. This type of signal appears in control
systems using computers, or digital controllers. The important feature here is that the analog sig-
nals can only be converted into digital signals by discretization of the signal level. There are no
longer any intermediate values. However, assuming that the conversion takes place at an effective-
ly unlimited speed, it is still possible to have a time-continuous signal (see Fig. 7c). In practice, the
technical methods available limit the conversion to a time-discrete form. In other words, the ana-
log/digital converter, used in digital control, only carries out the conversion process at discrete time
intervals (sampling time). From the analog signal we obtain a result which is both value-discrete
and time-discrete (see Fig. 7d).
It is quite evident that conversion of analog to digital signals in this way leads to a loss of informa-
tion about the measured signal.
Binary signals
In their simplest form the signals can only have two states, and are therefore called binary signals.
The control engineer is already familiar with this type of signal. The two states are normally de-
scribed as “0” and “1”. Every switch used to turn a voltage on and off produces a binary signal as
its output variable. Binary signals are also referred to as logic values and are assigned the values
“true” and “false”. Virtually all digital circuits in electrical engineering work with this type of logic
signals. Microprocessors and computers are built up from such elements, which only recognize
these two signal states (see Fig. 7e).
3-state signals
Signals with the next higher information content after binary signals are 3-state signals (sometimes
called tri-state signals). They are often used in connection with motors. Essentially, a motor can
have three operating states. The motor can be stationary, or it can rotate clockwise or anticlock-
wise. Corresponding elements with a 3-state action are frequently found in control engineering,
and are of great interest. Each of the three signal levels can have any desired value; in certain cas-
es each signal level can be a positive signal, or the magnitude of the positive and negative signals
can be different (see Fig. 7f).

JUMO, FAS 525, Edition 02.04 19

1 Basic concepts
1.6.2 Fundamental differences
A controller produces a relationship between the process variable PV and the setpoint SP, and de-
rives from it the manipulating variable MV. There are a number of ways to carry out this task: me-
chanical, pneumatic, electrical, mathematical. The mechanical controller, for example, alters a sig-
nal through a lever system, the electronic controller through operational amplifiers. With the intro-
duction of more powerful and low-cost microprocessors, another type of electrical controller has
cornered the market in recent years, the microprocessor controller (digital controller). The mea-
surement signal is no longer processed in an operational amplifier, but is now calculated using a
microprocessor. The different structures found in these digital controllers can be described directly
in mathematical terms.
The term “digital” means that the input variable, the process value, must initially be digitized, i.e.
converted into a numerical value, as described in Chapter 1.6.1, before the signal can be pro-
cessed by the microprocessor. The calculated output signal (the manipulating variable) then has to
be converted back to an analog signal, by a digital to analog converter, to control the process, or
alternatively, fed directly to a digital actuator. There is very little functional difference between digi-
tal and analog controllers, so this is not covered in-depth in the context of this book.
Use of a digital display is, in itself, not an adequate criterion for calling an instrument a digital con-
troller. There are instruments which work on analog principles, but which have a digital display.
They do not have an internal microprocessor to calculate the signals, and are therefore still referred
to as analog controllers.

Fig. 8: Principle of analog and digital controllers

20 JUMO, FAS 525, Edition 02.04

 1 Basic concepts

Fig. 9: Arrangement of analog and digital controllers

JUMO, FAS 525, Edition 02.04 21

1 Basic concepts
Advantages and disadvantages of digital controllers
Analog controllers are built up from operational amplifiers. The control parameters are set by
means of potentiometers, trimmers or solder links. Controller structure and characteristics are
largely predetermined by the design and construction. They are used where there is no requirement
for very high accuracy, and where the required features of the controller, such as its dynamic ac-
tion, are already known at the planning stage. Because of its speed of reaction, the analog control-
ler has clear advantages in extremely fast control loops.
In digital controllers a microprocessor converts all analog inputs into numerical values, and uses
them to calculate the manipulating variable. This has certain advantages compared with analog
processing:
- increased accuracy of control, depending on the measurement signal and the technology used
(e.g. A/D converter). Unlike components which are affected by tolerances and drift, the mathe-
matical relationships used have a constant accuracy and are unaffected by ageing, variations in
components and temperature effects.
- high flexibility in the structure and characteristics of the controller. Instead of having to adjust
parameters or unsolder components, as in analog controllers, a digital controller can be modi-
fied by simply programming a new linearization, controller structure etc. by inputting numerical
values
- facility for data transfer. There is often a need to modify or store information about process sta-
tus variables, or pass it on for different uses, and this is very simple to achieve using digital
technology. Remote setting of parameters through data systems, such as process management
systems via a digital interface, is also quite simple.
- control parameters can be optimized automatically, under certain conditions.
Digital controllers also have disadvantages compared with controllers operating on analog princi-
ples. The digital display, normally standard with digital controllers, makes it more difficult to identify
trends in process values. Digital instruments are more sensitive to electromagnetic interference.
The processor needs a certain time to calculate parameters and to carry out other tasks, so that
process values can only be read in at certain time intervals. The time interval between two succes-
sive readings of the process variable is referred to as the sampling time, and the term “sampling
controller” is often used. Typical values of the sampling time in compact controllers are in the range
50 — 500msec. There are no technical reasons why controllers with sampling times less than
1 msec could not be built. If the process is relatively slow compared with the sampling time, the
behavior of a digital controller is similar to that of an analog controller, since the sampling action is
no longer noticeable.

22 JUMO, FAS 525, Edition 02.04

 1 Basic concepts
1.7 Manipulating devices
The purpose of the manipulating device is to influence the process variable. Its main task is to reg-
ulate a mass or energy flow. Mass flows may have either gaseous or liquid state, e.g. natural gas,
steam, fuel oil etc.

Fig. 10: Overview of different manipulators

JUMO, FAS 525, Edition 02.04 23

1 Basic concepts

Fig. 11: Overview of different actuators

Energy flows often take the form of electrical energy. The energy supply can be varied discontinu-
ously through contacts, relays or contactors, or continuously by means of variable transformers,
variable resistors or thyristor units.

24 JUMO, FAS 525, Edition 02.04

 1 Basic concepts
The manipulating device is frequently operated by an actuator where the controller cannot operate
it directly, for instance, if it cannot provide sufficient power, or where the output of the controller is
in the wrong energy form for driving the manipulator. The controller then operates either a mechan-
ical-pneumatic or electrically powered driver. For example, the relays built into switching control-
lers can normally only handle currents up to 5A; external contactors or solid-state relays are then
used to control the higher power required by the process.
Table 1 gives a brief overview of the various manipulators/drivers and their operation from suitable
controllers.

Controller type Operated manipulators/drivers

Continuous controllers Adjustable resistor
Thyristor unit
Valves, flaps, slides
Speed-controlled motors
2-state controllers Contact
Relay, contactor, solenoid valve
Solid-state relay for heating, cooling etc.
3-state controllers (switching) Heating, cooling, relays etc.
Modulating controllers Actuating motors (AC, DC, 3-phase etc.)
Table 1: Controller types and manipulators/drivers

1.8 Other methods of achieving constant values

Automatic control, i.e. measurement of the process variable PV, comparison with the setpoint SP,
and production of the manipulating variable MV, is not the only possible way of ensuring that a pa-
rameter is kept constant. There are several other methods of achieving this, which often offer a
more cost-effective solution, as an alternative to automatic control.

1.8.1 Utilizing physical effects

There are a number of physical values which remain constant over a wide range even when sub-
jected to varying external influences. They include, for example, the melting point of a substance.
While ice is melting, the temperature remains constant at 0°C. Physical effects like this are suc-
cessfully used in many measurements, particularly in the laboratory. In this way, a temperature can
be maintained constant to a high degree of accuracy, without the expense of sophisticated control
equipment.

1.8.2 Constructional measures

To some extent, parameters can be held constant through suitable constructional features. For ex-
ample, a constant liquid level can be maintained in a container or tank, in spite of variations in the
inflow rate, just by providing an overflow (see Fig.12a). Another example is a swimming pool, where
the water level can be maintained constant by providing an overflow all round the pool.

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1 Basic concepts

Fig. 12: Methods of achieving constant values

1.8.3 Maintaining constant values by operation

As already discussed in Chapter 1.3, “Operation and control”, a parameter can be kept constant
by suitable operation. An example could be to maintain a constant furnace temperature. Assuming
a constant voltage, i.e. a steady power supply to an electrically heated furnace, the setting of an
energy regulator can be varied to provide different furnace temperatures. By noting these tempera-
tures, i.e. by producing a temperature scale and attaching this to the energy regulator, we can then
set any desired furnace temperature. As the adjustment is made by hand, we refer to this as man-
ual operation. The input parameter in this form of temperature control is the setting of the energy
regulator, the output variable is the furnace temperature, which can be displayed on a suitable indi-
cating instrument (see Fig. 1).

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 1 Basic concepts
Adjustment of the input parameters need not take place manually, but can be automated: this is
then called automatic operation. As an example, take the control of a mixing process. The task
consists of producing a flow Q2 which is proportional to an externally determined flow Q1 in order
to achieve a particular mixture ratio (see Fig. 12b). Here the flow Q1 is determined as the input vari-
able, and is applied to the operating equipment. The output of the operating equipment operates a
manipulator which changes the flow Q2.
From this it is clear that a process variable can also be kept constant by simple operation. Howev-
er, it should be borne in mind that operation has considerable disadvantages compared with auto-
matic control. If the process is subjected to a disturbance, or there is a change in the transfer char-
acteristic of the manipulating device, there can be undesirable changes in output, even with a fixed
transfer action between input and output variables.

1.9 Main areas of control engineering

Today, control engineering has applications in almost every area of technology. In Chapter 1.1 we
have already seen that these different applications have certain common features, which can be
described through a standard procedure. A number of main application groups have evolved as a
result of differing process variables, stabilization rates, types of machinery and equipment, and
certain special features of the application field.

! industrial process control

! drive control (speed control)
! control of electrical variables
! positional control
! course control

Fig. 13: Main areas of control engineering

Industrial process control
This heading covers the control of temperature, pressure, flow, level etc. in many different industrial
applications. If we look at the criterion “stabilization time”, this can have an order of magnitude
ranging from milliseconds, e.g. in pressure control, up to several hours in the case of temperature
control of larger installations (industrial furnaces).
Drive control (speed control)
This group includes speed control of motors on different machines and installations, such as in
plastics manufacture, paper production or textile machinery. Specially designed controllers are
normally used for these applications, since they have to remain stable during fast disturbances in
the range of tenths of seconds.
Control of electrical variables
This refers to stabilization of electrical parameters, e.g. voltage, current, power or even frequency.
This type of equipment is used in power generation or to stabilize characteristic values in supply
networks. Here again there are very fast disturbances, in the range of tenths of seconds or even
shorter.

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1 Basic concepts
Position control
This involves the positioning of tools, workpieces or complete assemblies, either in two or three di-
mensions. Examples include a milling machine and the positioning of guns on ships and tanks.
Once again, stabilization at the setpoint must be very rapid and very accurate.
Course control
The control of the course of ships or planes. Here the controller has to satisfy special demands,
such as high processing speed and operational safety, combined with low weight.

1.10 Tasks of the control engineer

So far we have discussed various concepts and designations, the differences between operation
and control and the various forms of controllers and manipulators. We can now summarize the
tasks a control engineer has to face in practice.
The most important tasks for a control engineer are as follows:

! Determining the process variable

! Checking whether automatic control
offers significant advantages
! Determining the measurement site
! Assessing the disturbances
! Selecting the manipulator
! Selecting a suitable controller
! Installation of the controller
in accordance with applicable regulations
! Starting up, adjusting parameters, optimizing
Fig. 14: Tasks of a control engineer
By control engineer, we don’t mean specialist engineers and technicians from universities or re-
search departments, who work in the laboratory developing controllers, control algorithms or spe-
cial control circuits. Specialists such as these require a much more extensive knowledge. Instead
we are addressing people working on site who may have to optimize an unsatisfactory control loop
or convert from manual operation to automatic control, or those involved in the design of a control
loop for a new installation. In most cases these operations can be tackled without using advanced
mathematics. All that is really needed is a basic understanding, pragmatic rules and knowledge
gained from past experience.
As a general principle for planning a control system, it should be borne in mind that when high-
performance demands are placed on a controller, the costs will increase considerably.

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2.1 Dynamic action of technical systems
The process is the element of a system which has to be controlled in accordance with the applica-
tion duty. In practice, the process represents either an installation or a manufacturing process
which requires controlling. Normally, the process covers a number of elements within a system.
The input is the manipulating variable y received from the control device. The output is represented
by the process variable x. As well as these two variables there are the disturbances z which affect
the process to some extent, through external influences or process-dependent variations.
An example of a process is a gas-fired furnace (see Fig. 15). At the start of the process is the valve,
which has as its input the manipulating variable of the controller. The valve controls the gas flow to
the burner. The burner produces heat energy by burning the gas, which brings the charge up to a
higher temperature. If the temperature in the charge is measured (process value), this also forms
part of the process. The final component of the process here is the sensor, which has the job of
converting the temperature into an electrical signal. Disturbances here are all the variables in the
process which, when they change, result in a different temperature for the same valve setting.
Example: If the manipulating variable is just large enough to give the required temperature in the
charge, and a disturbance occurs due to a fall in outside ambient temperature, then, if the manipu-
lating variable is not changed, the temperature in the charge will also be lower.

Fig. 15: Input and output variables of a process

When designing a control loop, it is important to know how the process responds when there is a
change in one of the influencing variables mentioned above. On the one hand, it is of interest to
know the new process value reached when stable conditions have been attained, following such
changes. On the other hand, it is also important to find out how the process value varied with time
during the transition to the new steady-state value. A knowledge of the characteristics determined
by the process is essential and can help to avoid difficulties later on, when designing the process.

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2 The process
Although processes have many different technical arrangements, they can be broadly categorized
by the following features:
- with and without self-limitation,
- with and without dead time or timing elements,
- linear or non-linear.
In most cases, however, a combination of individual characteristics will be present.
An accurate characterization and detailed knowledge of the process is a prerequisite for the design
of controls and for the optimum solution of a control task. It is not possible to select suitable con-
trollers and adjust their parameters, without knowing exactly how the process behaves. The de-
scription of the dynamic action is important to achieve the objective of control engineering, i.e. to
control the dynamic behavior of technical dynamic systems and to impose a specific transient re-
sponse on the technical system.
Static characteristic
The static behavior of a technical system can be described by considering the output signal in rela-
tion to the input signal. In other words, by determining the value of the output signal for different in-
put signals. With an electrical or electronic system, for instance, a voltage from a voltage source
can be applied to the input, and the corresponding output voltage determined. When considering
the static behavior of control loop elements, it is of no importance how a particular control element
reaches its final state. The only comparison made is limited to the values of the input and output
signals at the end of the stabilization or settling time.
When measuring static characteristics, it is interesting to know, amongst other things, whether the
particular control loop element exhibits a linear behavior, i.e. whether the output variable of the
control element follows the input proportionally. If this is not the case, an attempt is made to deter-
mine the exact functional relationship. Many control loop elements used in practice exhibit a linear
behavior over a limited range. With special regard to the process, this means that when the manip-
ulating variable MV is doubled, the process value PV also doubles; PV increases and decreases
equally with MV.
An example of a transfer element with a linear characteristic is an RC network. The output voltage
U2 follows the applied voltage U1 with a certain dynamic action, but the individual final values are
proportional to the applied voltages (see Fig. 16). This can be expressed by stating that the pro-
cess gain of a linear process is constant, as a change in the input value always results in the same
change in the output value.
However, if we now look at an electrically heated furnace, we find that this is in fact a non-linear
process. From Fig. 16 it is clear that a change in heater power from 500 to 1000W produces a larg-
er temperature increase than a change in power from 2000 to 2500W. Unlike the behavior of an RC
network, the furnace temperature does not increase to the same extent as the power supplied, as
the heat losses due to radiation become more pronounced at higher temperatures. The power
must therefore be increased to compensate for the energy losses. The transfer coefficient or pro-
cess gain of this type of system is not constant, but decreases with increasing process values. This
is covered in more detail in Chapter 2.8.

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Fig. 16: Linear and non-linear characteristics

Dynamic characteristic
The dynamic response of the process is decisive for characterizing the control loop. The dynamic
characteristic describes the variation in the output signal of the transfer element (the process)
when the input signal varies with time. In theory, it is possible for the output variable to change im-
mediately and to the same extent as the input variable changes. However, in many cases, the sys-
tem responds with a certain delay.

y x
t

t t
z

Process
y x

Fig. 17: Step response of a process with self-limitation

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2 The process
The simplest way of establishing the behavior of the output signal is to record the variation of the
process value PV with time, after a step change in the manipulating variable MV. This “step re-
sponse” is determined by applying a step change to the input of the process, and recording the
variation of PV with time. The step change need not necessarily be from 0 to 100%; step changes
over smaller ranges can be applied, e.g. from 30 to 50%. The dynamic behavior of processes can
be clearly predicted from this type of step response, which will be discussed in more detail in
Chapter 2.6.

2.2 Processes with self-limitation

Processes with self-limitation respond to a change in the manipulating variable or to a disturbance
by moving to a new stable process value. This type of process can dissipate the energy supplied
and achieve a fresh equilibrium.
A classic example is a furnace where, as the heating power is increased, the temperature rises until
a new equilibrium temperature is reached, at which the heat lost is equal to the heat supplied.
However, in a furnace, it takes some time to achieve the new equilibrium following a step change in
the manipulating variable. In processes without delays, the process value immediately follows the
manipulating variable. The step response of such a process then has the form shown in Fig. 18.

Fig. 18: Process without delay; P process

In this type of process with self-limitation, the process value PV is proportional to the manipulating
variable MV, i.e. PV increases to the same extent as MV. Such processes are often called propor-
tional processes or P processes. The relationship between process value x and manipulating vari-
able y is given by:

∆x = K S • ∆y

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 2 The process
The factor KS is known as the process gain (transfer coefficient). The relationship will be discussed
in more detail in Chapter 2.8.
Examples of proportional processes are:
- mechanical gearing without slip
- mechanical transmission by lever
- transistor (collector current Ic follows the base current IB with virtually no delay)

2.3 Processes without self-limitation

A process without self-limitation responds to a change in the manipulating variable or to a distur-
bance by a permanent constant change in the process value. This type of process is found in the
course control of an aircraft, where a change in the manipulating variable (rudder deviation) pro-
duces an increase in the process value deviation (course deviation) which is proportional to time. In
other words, the course deviation continually increases with time (see Fig. 19).

Fig. 19: Process without self-limitation; I process

Because of this integrating effect, such processes are also called integral processes or I process-
es. In this type of process, the process value increases proportionally with time as a result of a step
change ∆y in the manipulating variable. If the change in MV is doubled, the process value will also
double after a certain time.
If ∆y is constant, the following relationship applies:

∆x = K IS • ∆y • t

KIS is called the transfer coefficient of the process without self-limitation. The process value now
increases proportionally with both the manipulating variable change ∆y, as in a process with self-
limitation, and also with time t.

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2 The process
Additional examples of processes without self-limitation are:
- an electric motor driving a threaded spindle
- the liquid level in a tank (see Fig. 20)

Fig. 20: Liquid level in a tank; I process

Probably the best known example of a process without self-limitation is a liquid container with an
inflow and an outflow. The outlet valve, which here represents the disturbance, is assumed to be
closed initially. If the inlet valve is now opened to a fixed position, the liquid level (h) in the container
will rise steadily at a uniform rate with time.
The level in the container rises faster as the inflow rate increases. The water level will continue to
rise until the container overflows. In this case, the process does not self-stabilize. Taking the effect
of outflow into consideration, no new equilibrium is reached after a disturbance (except when in-
flow = outflow), unlike the case of a process with self-limitation.
In general, processes without self-limitation are more difficult to control than those with self-limita-
tion, as they do not stabilize. The reason is, that following an overshoot due to an excessive
change in MV by the controller, the excessive PV cannot be reduced by process self-limitation.
Take a case where the rudder is moved too far when making a course adjustment, this can only be
corrected by applying an opposing MV. An excessive change in MV could cause the process value
to swing back below the desired setpoint, which is why control of such a process is more difficult.

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 2 The process
2.4 Processes with dead time
In processes with a pure dead time the process only responds after a certain time has elapsed, the
dead time Tt. Similarly, the response of the process value is delayed when the manipulating vari-
able changes back (see Fig. 21).

Fig. 21: Process with dead time; Tt process

A typical example here is a belt conveyor, where there is a certain time delay before a change in the
chute feed rate is recorded at the measurement location (see Fig. 22).
Systems like this, which are affected by a dead time, are called Tt processes. The relationship be-
tween process value x and manipulating variable y is as follows:

∆x = K S • ∆y

but delayed by the dead time Tt.

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2 The process

Fig. 22: Example of a process with dead time; belt conveyor

Another example is a pressure control system with long gas lines. Because the gas is compress-
ible, it takes a certain time for a pressure change to propagate. By contrast, liquid-filled pipelines
have virtually no dead time, since any pressure change is propagated at the speed of sound. Relay
switching times and actuator stroke times also introduce delays, so that such elements in the con-
trol loop frequently give rise to dead times in the process.
Dead times pose a serious problem in control engineering, since the effect of a change in manipu-
lating variable is only reproduced in the process variable after the dead time has elapsed. If the
change in manipulating variable was too large, there is a time interval before this is noticed and
acted on by reducing the manipulating variable. However, if this process input is then too small, it
has to be increased once more, again after the dead time has elapsed, and so the sequence con-
tinues. Systems affected by dead time always have a tendency to oscillate. In addition, dead times
can only really be compensated for by the use of very complex controller designs. When designing
and constructing a process, it is very important that dead times are avoided wherever possible. In
many cases this can be achieved by a suitable arrangement of the sensor and the application point
of the manipulating variable. Thermal and flow resistances should be avoided or kept to a mini-
mum. Always try to mount the sensor at a suitable location in the process where it will read the av-
erage value of the process conditions, avoiding dead spaces, thermal resistances, friction etc.
Dead times can occur in processes with and without self-limitation.

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 2 The process
2.5 Processes with delay
In many processes there is a delay in propagation of a disturbance, even when no dead time is
present. Unlike the case explained above, the change does not appear to its full extent after the
dead time has elapsed, but varies continuously, even following a step change in the disturbing in-
fluence.
Continuing with the example of a furnace, and looking closely at the internal temperature propaga-
tion:
If there is a sudden change in heating power, the energy must first of all heat up the heating ele-
ment, the furnace material and other parts of the furnace until a probe inside the furnace can regis-
ter the change in temperature. The temperature therefore rises slowly at first until the temperature
disturbance has propagated and there is a constant flow of energy. The temperature then contin-
ues to rise. Over a period of time the temperature of the heating element and the probe come clos-
er and closer together; the temperature increases at a lower rate and approaches a final value (see
Fig. 23).

Fig. 23: Processes with delay

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2 The process
As an analogy, consider two pressure vessels which are connected by a throttle valve. In this case,
the air must flow into the first vessel initially, and build up a pressure there, before it can flow into
the second vessel. Eventually, the pressure in the first vessel reaches the supply pressure, and no
more air can flow into it. As the pressures in the two vessels slowly come into line with each other,
the pressure equalization rate between the two vessels becomes slower and slower, i.e. the pres-
sure in the second vessel rises more and more slowly. Following a step change in the manipulating
variable (in this case the supply line pressure) the process value (here the pressure in the second
vessel) will take the following course: a very slow rise to begin with until a certain pressure has built
up in the first vessel, followed by a steady rise and then finally an asymptotic or gradual approach
to the final value.
The transfer function of this type of system is determined by the number of energy stores available
which are separated from each other by resistances. This concept can also be used when referring
to the number of delays or time elements present in a process.
Such processes can be represented mathematically by an equation (exponential function) which
has an exponential term for each energy store. Because of this relationship, these processes are
designated as first-order, second-order, third-order processes, and so on.
The systems may be processes with or without self-limitation, which can also be affected by dead
time.

2.5.1 Processes with one delay (first-order processes)

In a process with one delay, i.e. with one available energy store, a step change in MV causes the
PV to change immediately without delay and at a certain initial rate of change: PV then approaches
the final value more and more slowly (see Fig. 24).

Fig. 24: First-order process; PT1 process

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 2 The process

Example:
R A typical example of a first-order
process is the charge or discharge
Uin Uout
of a capacitor through a resistor.
The plot of the process variable
(capacitor voltage) follows a typi-
cal exponential function.
-t
Uout = Uin (1 - e RC )

For a step change ∆y the relationship is as follows:

-t
⎛ -----⎞
∆x = K S • ∆y • ⎜ 1 – e ⎟
T
⎜ ⎟
⎝ ⎠
The term in brackets shows that a step change in MV does not produce a corresponding immedi-
ate change in PV. Instead PV slowly approaches the final value in a characteristic manner. As the
time t increases (large value of t/T), the value of the expression in the brackets tends towards 1, so
that for the final value, ∆x = KS • ∆y.
As shown in Fig. 24, after a time t = T (time constant), the PV has reached 63% of the final value.
After a time t = 5 T, the PV has almost reached 100% of the final value.
Such processes are also referred to as T1 processes. If it is a process with self-limitation, it is re-
ferred to as a PT1 process; a process without self-limitation is an IT1 process. Processes with one
delay (first-order) occur very frequently. Examples are:
- heating and cooling of a hot water tank
- filling a container with air or gas via a throttle valve or a small bore pipe

2.5.2 Processes with two delays (second-order processes)

In a process with two delays there must be two storage elements, connected together by a resis-
tance. Such processes can be characterized by specifying the transfer coefficient KS and the time
constants T1 and T2. Here, in contrast to a first order process, the step response of the process
value starts with a horizontal phase and also has a point of inflection (see Fig. 25).
The course of the step response cannot be drawn by simply combining T1 and T2. For a step
change ∆y and for T1 not equal to T2 , the relationship is as follows:

–t –t
⎛ ------ ------⎞
⎜ T T 1 T T 2⎟
1 2
∆x = K S • ∆y • ⎜ 1 – ----------------- e + ----------------- e ⎟
⎜ T1 – T2 T1 – T2 ⎟
⎝ ⎠

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2 The process

Fig. 25: Second-order process; PT2 process

Such a process is normally called a PT2 process. As already discussed, second-order processes
always have a point of inflection, where the radius of curvature changes from a left-hand to a right-
hand curve. First-order processes do not have this point of inflection.
Typical examples of this type of action are:
- filling two containers in series with air or gas through restrictors (see Fig. 23)
- charging up two RC networks in series
- temperature rise in a heated hot-water tank, where the thermometer is mounted in a pocket.

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 2 The process
2.5.3 Processes with several delays (higher-order processes)
If there are more than two storage elements, the process has a correspondingly higher order.
Interestingly enough, the transfer function characteristic of a higher-order process shows very little
change from that of a second-order process. The rise of the curve does, however, become increas-
ingly steeper and more delayed, until, with an infinite number of time delay elements, it approaches
a pure dead time (see Fig. 26).
The order of a process is an important characteristic, particularly when describing it mathematical-
ly. In practice, almost every process is made up of a large number of widely differing energy stor-
age elements, such as protective fittings, filling materials for temperature probes, dead spaces in
manometers, etc. As a result, it is quite impossible to give an accurate mathematical description of
an actual process.

Process value
y x

∆y

infinite order
t0 t t0 t

Fig. 26: Processes with several delays

In practice, the exact order of the process is not as important as might appear at first glance. Of
much greater significance are the longest delay times, which determine the nature of the process.
As the order of the process increases, it becomes more and more difficult to control, since it ap-
proximates more and more to a system with dead time. A combination with a pure dead time is
also possible, when the controllability deteriorates even more. Controllability is improved when
there are significant differences between the time constants of the individual process elements.
The worst case occurs when the time constants have the same value.

2.6 Recording the step response

The step response of a process, i.e. the course of the process value PV following a step change in
manipulating variable MV can be characterized by two time values:
- the delay time Tu, and the
- response time Tg
If these times are known, a quick estimate of the controllability of a process can be made, and the
control parameters determined in a simple way, as explained later. The order of the process is ig-
nored when using this approach, where it is assumed that any process is made up of a dead time
Tu and a first-order process with a time constant Tg.
To determine such a transfer function and the resulting delay and response times, a recorder is
connected to the transducer (sensor) and the manipulating variable (e.g. heating current) changed
suddenly. Obviously, the change in MV should be limited to a value such that the new setpoint can
be reached without damaging the system. The course of the process value is recorded, a tangent
is drawn to the curve at the point of inflection, and Tu and Tg are determined as shown in Fig. 27.

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2 The process

Dy

t
x Tg

inflection tangent

inflection point

Dx
Dt
t
Tu

Fig. 27: Determining the delay time and response time

The ratio of delay time to response time gives information about the character of the process and
its controllability:
Tg/Tu more than 10: process easy to control
Tg/Tu between 10 and 3: process can be controlled
Tg/Tu less than 3: process difficult to control
As the ratio of response time Tg to delay time Tu reduces, there is an increasing delay before the
change in manipulating variable is communicated to the controller, and the controllability is pro-
gressively reduced. As explained in Chapter 2.5.3, a low Tg/Tu ratio corresponds to a steep gradi-
ent on the graph, representing a higher-order process which is difficult to control because of its
tendency to overshoot.
Fast processes with Tg/Tu less than 3 are comparatively rare in furnaces, for example, since the
temperature disturbance propagates relatively slowly and continuously through the furnace materi-
al. One exception is the type of furnace where the heating acts directly on the charge. The situation
is quite different with pressure control: opening an air-lock can lead to a sudden drop in pressure,
to which the controller must respond with an equally fast increase in supply pressure. Pressure
equalization in the system takes place just as quickly, so that the entire control process is complet-
ed within a short space of time. In these processes the dead times are long in relation to the delay
times. Certain chemical processes (reactions, neutralization) can sometimes proceed very quickly.
As well as the delay and response times, another important characteristic of the process can be
determined, the maximum rate of rise Vmax. It is obtained from the slope of the tangent at the point
of inflection (see Fig. 27):

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 2 The process

change in process variable ∆x

V max = ------------------------------------------------------------- = ------
unit time ∆t
As shown later in the section on optimization, the maximum rate of rise is also referred to when
setting control parameters.
DIN Specification 19 226 refers to the start-up value A instead of the rate of rise. This start-up val-
ue is the reciprocal of the maximum rate of rise of the process value PV for a sudden change in the
manipulating variable from 0 — 100%:

1
A = -------------
V max

2.7 Characteristic values of processes

The delay times and response times (standard values) of some typical processes are shown in
Table 2 below.

Process Type of process Delay time Tu Response time Tg

variable
Temperature small electrically-heated oven 0.5 — 1 min 5 — 15min
large electrically-heated furnace 1 — 5 min 10 — 20min
large gas-fired reheating furnace 0.2 — 5 min 3 — 60min
autoclave 0.5 — 0.7 min 10 — 20min
high-pressure autoclave 12 —15 min 200 — 300min
injection molding machine 0.5 — 3 min 3 — 300min
extruder 1 — 6 min 5 — 60min
packaging machine 0.5 — 4 min 3 — 40min
Pressure drum boiler, gas or oil-fired 0sec 150sec
drum boiler, solid fuel-fired 0 — 2min 2.5 — 5min
Flow gas pipelines 0 — 5sec 0.2 — 10sec
liquid pipelines 0sec 0sec
Table 2: Delay times and response times (standard values) for some processes
The values given in the table should be taken as average values and serve only as a rough guide.
For practical applications, the values of delay time and response time should be determined by
carrying out a step response test.

2.8 Transfer coefficient and working point

Previous sections have dealt mainly with the dynamic characteristic of the process (course of the
step response), i.e. its behavior with respect to time. Chapter 2.1 has already mentioned the static
characteristic, and described the final values for various manipulating variables. No account is tak-
en of changes in the process value with respect to time.
The transfer coefficient is given by the ratio of output to input value, in this case the ratio of the
change in process variable to the change in manipulating variable.

change in process variable ∆x

K S = ------------------------------------------------------------------------ = ------
change in manipulating variable ∆y

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The transfer coefficient KS is also called the process gain.
In many cases the process gain KS is not constant over the entire range of the process variable, as
the following case will explain: in a furnace, a small increase in heating power is sufficient to pro-
duce a large increase in temperature at the lower end of the temperature range; at the upper end of
the temperature range, however, a much larger change in energy flow is required to achieve the
same effect (see Fig. 28).

Temperature °C

Dy
300
Dx
AP2
Dy
200
Dx
AP1
100 WP: working point

Heating power kW
05 10 15
ð KS depends on the working point
Dx 100 °C °C
WP1: K S = = = 20
Dy 5 kW kW

Dx 30 °C °C
WP2: K S = = = 6
Dy 5 kW kW

Fig. 28: Process gain and working point

The reason for this is that the furnace used in the example represents a non-linear process. In ad-
dition to temperature processes, such processes also include processes where the friction is pro-
portional to speed, relationships between motor power and speed, etc.
The delay time and response times in non-linear processes also depend on the working point. Pro-
cess gain KS, delay time, response time and other such values must be referred to a working point,
i.e. to a pair of values of MV and PV, at which they have been evaluated. In general, they are not
valid for other working points; in non-linear processes, a new set of values must be determined for
each different working point, since the controller setting depends on the process parameters. In
such processes the action of the controller is only optimized at the working point of the process for
which the values were evaluated. If this is changed, for example, if a different process temperature
is required, the controller has to be re-tuned to achieve optimum control.
Generally, the working point should lie in the range from middle to upper third of the transfer func-
tion at full power. A working point in the lower third is less satisfactory, because of the large excess
power. Although the desired value (setpoint) is reached more rapidly in this case, the controllability
is made worse. A working point in the upper part of the characteristic is also unsatisfactory, due to
the lack of reserve power and resultant slow stabilization, and is also unsatisfactory from the point
of view of disturbances.

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3.1 Introduction
After discussing processes in Chapter 2, we now turn to the second important element of the con-
trol loop, the controller. The controller has already been described as the element which makes the
comparison between process variable PV and setpoint SP, and which, depending on the control
deviation, produces the manipulating variable MV. The output of a continuous controller carries a
continuous or analog signal, either a voltage or a current, which can take up all intermediate values
between a start value and an end value.
The other form of controller is the discontinuous or quasi-continuous controller in which the manip-
ulating variable can only be switched on or off.
Continuous controllers offer advantages for certain control systems since their action on the pro-
cess can be continuously modified to meet demands imposed by process events. Common indus-
try standard output signals for continuous controllers are: 0 — 10V, 0 — 20mA, 4 — 20mA. On a
continuous controller with a 0 — 20 mA output, 10% manipulating variable corresponds to an out-
put of 2mA, 80% corresponds to 16mA, and 100% equals 20mA.
As discussed in Chapter 1, continuous controllers are used to operate actuators, such as thyristor
units, regulating valves etc. which need a continuous signal.

3.2 P controller
In a P controller the control deviation is produced by forming the difference between the process
variable PV and the selected setpoint SP; this is then amplified to give the manipulating variable
MV, which operates a suitable actuator (see Fig. 29).

Process value (x)

Control
deviation
e = (w - x)
Amplifier
(Kp)
Manipulating
variable (y)
Setpoint (w)

Fig. 29: Operating principle of a P controller

The control deviation signal has to be amplified, since it is too small and cannot be used directly as
the manipulating variable. The gain (Kp) of a P controller must be adjustable, so that the controller
can be matched to the process.
The continuous output signal is directly proportional to the control deviation, and follows the same
course; it is merely amplified by a certain factor. A step change in the deviation e, caused for exam-
ple by a sudden change in setpoint, results in a step change in manipulating variable (see Fig. 30).

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P controller
e Step response

e = (w - x)

t
y

y = KP • (w - x)

t0 t

Fig. 30: Step response of a P controller

The step response of a P controller is shown in Fig. 30.
In other words, in a P controller the manipulating variable changes to the same extent as the devi-
ation, though amplified by a factor. A P controller can be represented mathematically by the follow-
ing controller equation:

y = KP • ( w – x )

The factor KP is called the proportionality factor or transfer coefficient of the P controller and corre-
sponds to the control amplification or gain. It should not be confused with the process gain KS of
the process.
So, in an application where the user has set a KP of 10 %/°C, a P controller will produce a manipu-
lating variable of 50 % in response to a control difference of 5 °C.
Another example would be a P controller for the regulation of a pressure, with a KP set to 4 %/bar.
In this case, a control difference of 20 bar will produce a manipulating variable of 80 %.

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3.2.1 The proportional band
Looking at the controller equation, it follows that, in a P controller, any value of deviation would
produce a corresponding value of manipulating variable. However, this is not possible in practice,
as the manipulating variable is limited for technical reasons, so that the proportional relationship
between manipulating variable and control deviation only exists over a certain range of values.

The X P band
Heater power
kW
Manipulating variable MV
% Setpoint
w
XP
50 100

25 50

50 100 150 200 T / °C

Different controller gains through different X P bands

MV
% X P1 = 50 °C
w XP2 = 150 °C
X P1
100 X P3 = 250 °C
80 XP2

50

50 100 150 200 250 300 T / °C

Fig. 31: The position of the proportional band

The top half of Fig. 31 shows the characteristic of a P controller, which is controlling an electrically
heated furnace, with a selected setpoint w = 150°C.
The following relationship could conceivably apply to this furnace
The manipulating variable is only proportional to the deviation over the range from 100 to 150°C,
i.e. for a deviation of 50°C from the intended setpoint of 150°C. Accordingly, the manipulating vari-
able reaches its maximum and minimum values at these values of deviation, and the highest and
lowest heater power is applied respectively. No further changes are possible, even if the deviation
increases.
This range is called the proportional band XP . Only within this band is the manipulating variable
proportional to the deviation. The gain of the controller can be matched to the process by altering
the XP band. If a narrower XP band is chosen, a small deviation is sufficient to travel through the full
manipulating range, i.e. the gain increases as XP is reduced.

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The relationship between the proportional band and the gain or proportionality factor of the con-
troller is given by the following formula:

1
X P = ------ • 100%
KP

Within the proportional band XP , the controller travels through the full manipulating range yH, so
that KP can be determined as follows:

y H max. manipulating range

K P = ------ = --------------------------------------------------------
XP proportional band
The unit of the proportionality factor KP is the unit of the manipulating variable divided by the unit
of the process variable. In practice, the proportional band XP is often more useful than the propor-
tionality factor KP and it is XP rather than KP that is most often set on the controller. It is specified in
the same unit as the process variable (°C, V, bar etc.). In the above example of furnace control, the
XP band has a value 50°C. The advantage of using XP is that the value of deviation, which produc-
es 100% manipulating variable, is immediately evident. In temperature controllers, it is of particular
interest to know the operating temperature corresponding to 100% manipulating variable. Fig. 31
shows an example of different XP bands.
An example
An electric furnace is to be controlled by a digital controller. The manipulating variable is to be
100% for a deviation of 10°C. A proportional band XP = 10 is therefore set on the controller.
Until now, for reasons of clarity, we have only considered the falling characteristic (inverse operat-
ing sense), in other words, as the process variable increases, the manipulating variable decreases,
until the setpoint is reached. In addition, the position of the XP band has been shown to one side of
and below the setpoint.
However, the XP band may be symmetrical about the setpoint or above it (see Fig. 32). In addition,
controllers with a rising characteristic (direct operating sense) are used for certain processes. For
instance, the manipulating variable in a cooling process must decrease as the process value in-
creases.

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Fig. 32: Position of the proportional band about the setpoint

The advantages of XP bands which are symmetrical or asymmetrical about the setpoint will be dis-
cussed in more detail under 3.2.2.

3.2.2 Permanent deviation and working point

A P controller only produces a manipulating variable when there is a control deviation, as we al-
ready know from the controller equation. This means that the manipulating variable becomes zero
when the process variable reaches the setpoint. This can be very useful in certain processes, such
as level control. However, in our example of the furnace, it means that heating power is no longer
applied when the control deviation is zero. As a consequence, the temperature in the furnace falls.
Now there is a deviation, which the controller then amplifies to produce the manipulating variable;
the larger the deviation, the larger the manipulating variable of the controller. The deviation now

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takes up a value such that the resulting manipulating variable is just sufficient to maintain the pro-
cess variable at a constant value.
A P controller always has a permanent control deviation or offset
This permanent deviation can be made smaller by reducing the proportional band XP . At first
glance, this might seem to be the optimal solution. However, in practice, all control loops become
unstable if the value of XP falls below a critical value - the process variable starts to oscillate.
If the static characteristic of the process is known, the resulting control deviation can be found di-
rectly. Fig. 33 shows the characteristic of a P controller with an XP band of 100°C. A setpoint of
200°C is to be held by the controller. The process characteristic of the furnace shows that a manip-
ulating variable of 50% is required for a setpoint of 200°C. However, the controller produces zero
manipulating variable at 200°C. The temperature will fall, and, as the deviation increases, the con-
troller will deliver a higher manipulating variable, corresponding to the XP band. A temperature will
be reached here, at which the controller produces the exact value of manipulating variable required
to maintain that temperature. The temperature reached, and the corresponding manipulating vari-
able, can be read off from the point of intersection of the controller characteristic and the static
process characteristic: in this case, a temperature of 150°C with a manipulating variable of 40%.

Permanent control deviation

y/%
Controller characteristic
Setpoint w
100

50 X P = 100 °C
40

100 150 200 300 400 T / °C

T / °C
Static process characteristic
400

200

25 50 75 100 y/%

y/% Working point correction

W
100

WP
50

50 100 150 200 250 300 T / °C

Fig. 33: Permanent deviation and working point correction

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It is clear that in a furnace, for instance, a certain level of power must be supplied in order to reach
and maintain a particular setpoint. So it makes no sense to set the manipulating variable to zero
when there is no control deviation. The manipulating variable is usually set to a specific percentage
value for a control difference of 0. This is called working point correction, and can be adjusted on
the controller, normally over the range of 0 — 100%. This means that with a correction of 50%, the
controller would produce a manipulating variable of 50% for zero control deviation. In the example
given, see Fig. 33, this would lead to the setpoint w = 200°C being reached and held. We can see
that the proportional band exhibits a falling characteristic that is symmetrical about the setpoint. If
the process actually requires the manipulating variable set at the working point, as in our example,
the control operates without deviation.
Setting the working point in practice
In practice, the process characteristic of a process is not usually known. However, the working
point correction can be determined by manually controlling the process variable at the setpoint val-
ue that the controller is to hold later. The manipulating variable required for this is also the value for
the working point correction.
Example
In a furnace where a setpoint of 200°C is to be tracked, the controller would be set to manual
mode and the manipulating variable slowly increased by hand, allowing adequate time after the
change for the end temperature to be reached. A certain value of manipulating variable will be de-
termined, for example 50%, which is sufficient for a process variable of 200°C. This manipulating
variable is then fed in as the value for the working point correction.
After feeding in the value for the working point correction, the controller will only operate without
control difference at the particular setpoint for which the working point correction was made. Fur-
thermore, the external conditions must not change. If other disturbances did affect the process,
(for example, a fall in the temperature outside a furnace), a control difference would be set once
again, although this time the value would be smaller.
We can summarize the main points about the control deviation of a P controller as follows
(controller with falling characteristic, process with self-limitation):
Without working point WP
- The process variable remains in a steady state below the setpoint.

With working point WP (see Fig. 33)

- below the working point (in this case 0 — 50% manipulating variable)
process variable is above the setpoint
- at the working point (in this case 50% manipulating variable)
process variable = setpoint
- above the working point (in this case 50 — 100% manipulating variable)
process variable is below the setpoint

In a P controller, the output signal has the same time course as the control deviation, and because
of this it responds to disturbances very rapidly. It is not suitable for processes with a pure dead
time, as these start to oscillate due to the P controller. On processes with self-limitation, it is not
possible to control exactly at the setpoint; a permanent deviation is always present, which can be
significantly reduced by introducing a working point correction.

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3.2.3 Controllers with dynamic action
As we saw in the previous chapter, the P controller simply responds to the magnitude of the devia-
tion and amplifies it. As far as the controller is concerned, it is unimportant whether the deviation
occurs very quickly or is present over a long period.
When a large disturbance occurs, the initial response of a machine operator is to increase the ma-
nipulating variable, and then keep on changing it until the process variable reaches the setpoint.
He would consider not only the magnitude of the deviation, but also its behavior with time (dynam-
ic action).
Of course, there are control components that behave in the same way as the machine operator
mentioned above:
- The D component responds to changes in the process variable. For example, if there is 20% re-
duction in the supply voltage of an electric furnace, the furnace temperature will fall. This D
component responds to the fall in temperature by producing a manipulating variable. In this
case, the manipulating variable is proportional to the rate of change of furnace temperature, and
helps to control the process variable at the setpoint.
- The I component responds to the duration of the deviation. It summates the deviation applied to
its input over a period of time. If this controller is used on a furnace, for example, it will slowly in-
crease the heating power until the furnace temperature reaches the required setpoint.
In the past, dynamic action was achieved in analog controllers by feeding part of the manipulating
variable back to the controller input, via timing circuits. The feedback changes the input signal (the
real control deviation) so that the controller receives a simulated deviation signal that is modified by
a time-dependent factor. In this way, using a D component, a sudden change in process variable,
for example, can be made to have exactly the same initial effect as a much larger control deviation.
In this connection, because of this reverse coupling, we often talk about feedback. In modern mi-
croprocessor controllers, the manipulating variable is not produced via feedback, but derived
mathematically direct from the setpoint and process variable.
We will avoid using the term feedback in this book, as far as possible.
The components described above are often combined with a P component to give PI, PD or PID
controllers.

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3.3 I controller
An I controller (integral controller) integrates the deviation signal applied to its input over a period of
time. The longer there is a deviation on the controller, the larger the manipulating variable of the
I controller becomes. How quickly the controller builds up its manipulating variable depends firstly
on the setting of the I component, and secondly on the magnitude of the deviation.
The manipulating variable changes as long as there is a deviation. Thus, over a period of time, even
small deviations can change the manipulating variable to such an extent that the process variable
corresponds to the required setpoint.
In principle, an I controller can fully stabilize after a sufficiently long period of time, i.e. setpoint =
process variable. The deviation is then zero and there is no further increase in manipulating vari-
able.
Unlike the P controller, the I controller does not have a permanent control deviation
The step response of the I controller shows the course of the manipulating variable over time, fol-
lowing a step change in the control difference (see Fig. 34).

Fig. 34: Step response of an I controller

For a constant control deviation ∆e, the equation of the I controller is as follows:

1
∆y = ---- • ∆e • t
TI

Here TI is the integral time of the I controller and t the duration of the deviation. It is clear that the
change in manipulating variable y is proportional not only to the change in process variable, but
also to the time t.

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If the control deviation is varying, then:

1 s
TI ∫
y = ---- e • dt • ---
K

The integral time of the I controller can also be evaluated from the step response (see Fig. 34):

∆e • ∆t
T I = -----------------
∆y
If the process variable is below the setpoint on an I controller with a negative operating sense, as
used, for example, in heating applications, the I controller continually builds up its manipulating
variable. When the process variable reaches the setpoint, we now have the possibility that the ma-
nipulating variable is too large, because of delays in the process. The process variable will again in-
crease slightly; however, the manipulating variable is now reduced, because of the sign reversal of
the process variable (now above the setpoint).
It is precisely this relationship that leads to a certain disadvantage of the I controller
If the manipulating variable builds up too quickly, the control signal which arises is too large, and
too high a process variable is reached. Now the process variable is above the setpoint and the sign
of the deviation is reversed, i.e. the control signal decreases again. If the decrease is too sudden, a
lower process value is arrived at, and so on. In other words, with an I controller, oscillations about
the setpoint can occur quite frequently. This is especially the case if the I component is too strong,
i.e. when the selected integral time TI is too short. The exception to this is the zero-order process
where, because there are no energy storage possibilities, the process variable follows the manipu-
lating variable immediately, without any delay; the control loop forms a system which is not capa-
ble of oscillation.
To develop a feel for the effect of the integral time TI, it can be defined as follows: The integral
time TI is the time that the integral controller needs to produce its constant control difference at its
output (without considering sign). Imagine a P controller for a furnace, where the response time TI
is set at 60sec and the control difference is constant at 2°C. The controller requires a time TI =
60sec for a 2% increase in manipulating variable, if the control difference remains unchanged at
2°C.
Summarizing the main points, the I controller removes the control deviation completely, in contrast
to the P controller.
An I controller is not stable when operating on a process without self-limitation, and is therefore un-
suitable for control of liquid levels, for example. On processes with long time constants, the I com-
ponent must be set very low, so that the process variable does not tend to oscillate. With this small
I component, the I controller works much too slowly. For this reason, it is not particularly suitable
for processes with long time constants (e.g. temperature control systems). The I type of controller
is frequently used for pressure regulation, and in such a case Tn is set to a very low value.

3.4 PI controller
As we have found in the I controller, it takes a relatively long time (depending on Ti ) before the con-
troller has built up its manipulating variable. Conversely, the P controller responds immediately to
control differences by immediately changing its manipulating variable, but is unable to completely
remove the control difference. This would seem to suggest combining a P controller with an I con-
troller. The result is a PI controller. Such a combination can combine the advantage of the P con-
troller, the rapid response to a control deviation, with the advantage of the I controller, the exact
control at the setpoint.

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We can obtain the step response of a PI controller simply by superimposing the step responses of
a P and an I controller, as shown in Fig. 35.

De

y t0 t

I controller

y t

PI controller

S P controller
Tn t

Fig. 35: Step response of a PI controller

If the diagonally rising straight line of the PI manipulating variable is projected back to its point of
intersection S with the time axis, it intercepts a length of time there. With a PI controller, this corre-
sponds to the reset time Tn .
For a control deviation e = ∆e = constant, we obtain the following equation for the PI controller:

∆y = ------ • 100% • ⎛ ∆e + ------ • ∆e • t⎞ = ------ • 100% • ∆e • ⎛ 1 + ------ • t⎞

1 1 1 1
XP ⎝ Tn ⎠ X ⎝ T ⎠
P n
The reset time is a measure of the extent to which the duration of the control deviation affects the
control function. A long reset time means that the I component has little influence, and vice versa.
From the equation above, it is evident that the real amplification of the I component is the factor

1 1
------ • 100% • ------
XP Tn

With a PI controller, therefore, a change in proportional band XP also causes a change in the inte-
gral action. If the proportional gain of a PI controller is increased by reducing XP , the integral action
will also be increased, so the controller will make a faster integration of the control difference.
It is also possible to interpret Tn as the time interval required for the I component to produce the
same manipulating variable y (for a given deviation), as that already produced by the P component

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(following a step change). The formula given above is only valid when the deviation remains con-
stant during the time interval t. If this is not the case, the relationship is as follows:

1 1 1
XP XP Tn ∫
∆y = ------ • 100% • e + ------ • 100% • ------ • e • dt

As mentioned earlier, a PI controller can, in principle, be built up by combining a P controller and an

I controller. With a sudden deviation, the manipulating variable is initially formed by the P compo-
nent (see Fig. 36). Because of the changed manipulating variable, the process variable moves to-
wards the setpoint, i.e. the deviation is reduced, and with it the manipulating variable produced by
the P controller. Now the manipulating variable produced by the I component ensures exact con-
trol. Whereas the P component of the manipulating variable steadily decreases as the setpoint is
approached, the I component continues to build up. Here, however, the increase is also smaller,
because of the reducing deviation, until finally, when the setpoint is reached, nothing more is add-
ed to the current manipulating variable. When the system has stabilized, the manipulating variable
of the PI controller is produced solely by the I component.

T / °C

400 Setpoint w
300
200
100

t
T / °C

400
300
200
100

y/%

P component I component
100
50 % power required
50

Fig. 36: Formation of the manipulating variable in a PI controller

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Summarizing the main points:
In a PI controller, the P component causes the manipulating variable to respond immediately to the
control deviation. The PI controller is therefore much faster than an I controller. The I component in-
tegrates the control deviation at the output of the controller, so that the closed control loop acts to
reduce the remaining deviation.

3.5 PD controller
If a large disturbance occurs in a control loop which is being controlled manually, bringing with it a
change in the manipulating variable, the operator will try to cushion the effect of the disturbance by
making a large initial adjustment of the actuator. He then quickly reduces the adjustment, so that
the new equilibrium of the control loop can be approached gradually. A controller which responds
in a similar way to the above operator is the PD controller: it consists of a P component with a
known proportional action, and a D component with a derivative action. This D component re-
sponds not to the magnitude or duration of the control deviation, but to the rate of change of the
process variable. Fig. 37 shows how such a PD controller builds up its manipulating variable.
Fig. 37 explains how the PD controller works. If a new setpoint is applied, the manipulating variable
is increased by the P component; this component of the manipulating variable is always propor-
tional to the deviation. The process variable responds to the increased manipulating variable, for
example, a furnace temperature rises. As soon as the process variable changes, the D component
starts to take effect: while the process variable increases, the D component forms a negative ma-
nipulating variable, which is subtracted from the manipulating variable of the P component, finally
producing the manipulating variable at the controller output. When the process variable is tracking
the setpoint, the D component “brakes”, thus preventing the manipulating variable overshooting
above the setpoint.
If the process variable has reached its maximum value after an overshoot above the setpoint, and
is now reducing, the D component gives out a positive manipulating variable. In this case, the D
component counteracts the change in process variable.
The D component only intervenes in the process when there is a change in process variable. The
size of the manipulating variable of the D component depends on the rate of change of the process
variable, that is on the magnitude of ∆x/∆t (see the gradient triangle in Fig. 37). In addition, the ef-
fect can be changed at the controller via the time Td (derivative time), which we will get to know in
this chapter. A pure D controller is not suitable for control, as it does not intervene in the process
when there is a constant deviation, or when the process variable remains constant.

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T / °C

400 Setpoint w
300

200
100
t

T / °C

400 Process value X

300

200
Dx
100 Dt t

yp /%
P component
100

-100

yD /%

D component
100

-100

Fig. 37: Formation of the manipulating variable in a PD controller

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Fig. 38 shows the ramp function response for a PD controller, where we can imagine the increasing
control deviation resulting from a falling process variable.

Fig. 38: Response of a PD controller to a ramp function

From Fig. 38 we can see that there is a noticeable manipulating variable from the D component at
the start of the ramp function, since this manipulating variable is proportional to the rate of change
of the process value. The P component needs a certain time, namely the derivative time Td , to
reach the same value manipulating variable as the D component has built up. The derivative time is
obtained by projecting the diagonally rising line back to its point of intersection S with the time
axis.
Mathematically, the rate of change v is obtained from the change in control deviation “de” per unit
time “dt”:

de
v = -----
dt
For the PD controller, this leads to the following control equation:

y = ------ • 100% • ⎛ e + T v • -----⎞

1 de
XP ⎝ dt ⎠

In principle, the D component has the following effects:

As soon as the process variable changes, the D component counteracts this change.
For a controller with an inverse operating sense (i.e. for heating), this means for example:

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- If the process variable reduces as a result of a disturbance in the process, the D component
forms a positive manipulating variable, which counteracts the reduction in the process variable.
- If the process variable increases as a result of a disturbance in the process, the D component
forms a negative manipulating variable, which counteracts the increase in the process variable.

3.5.1 The practical D component - the DT1 element

In principle, we could also consider the step response of a PD controller in the same way as previ-
ously for P and PI controllers. Now, however, the rate of change at a step is infinitely large. In theo-
ry, the D signal derived from a step would therefore be an infinitely high and infinitely narrow spike
(see Fig. 39). Theoretically, this means that the manipulating variable has to take up an infinitely
high value for an infinitely short time, and then return immediately to the value produced by the P
component. This is simply not possible, for both electrical and mechanical reasons. Furthermore,
such a short pulse would scarcely influence the process. In practice, the immediate decay is pre-
vented by forming the D component through a DT1 element. This element consists of a D compo-
nent, which we have already met in this chapter, in series with a T1 element. The T1 element be-
haves like a first-order process with a transfer coefficient of 1.
Fig. 39 shows the step response of the “practical” D component. T1 is the time constant of the T1
element. In practice, this time constant is set at Td /4, and when Td is changed, the time constant is
changed by the same ratio. The derivative time Td can be determined from the step response of
the “practical” D component, on the basis of the ratio T1 = Td /4.
T1 is specified by the manufacturer, and cannot be altered by the user.

De

t
y
Narrow spike Theory

t
y yh
Practice

Td
De
T1

T1 t

Fig. 39: Step response of a DT1 element

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 3 Continuous controllers
Summarizing the main points:
A pure D controller has no practical importance since it takes no account of a permanent deviation,
and simply responds to the rate of change of the process variable. By comparison, the PD control-
ler is very widely used. The D component ensures a fast response to disturbances, whereas its
“braking behavior” also stabilizes the control loop. The D component is not suitable for processes
with pulsating variables, such as pressure and flow control.
The main application for the PD controller is where tools or products are prone to damage if the
setpoint is exceeded. This applies particularly to plastics processing machines. However, PD con-
trollers, like the P controller, always have a permanent deviation, when controlling processes with
self-limitation.

3.6 PID controller

We have seen earlier that the combination of a D component or an I component with a P controller
offered certain advantages in each case. Now it seems logical to combine all three structures, re-
sulting in the PID controller.
With this controller, the XP , Tn , Td parameters are adjusted for the P, I and D action. These three
components can be seen in the step response of a PID controller (see Fig. 40).

De

t0 t
y D component
I component

Td /4 KP • De P component

Tn t

Fig. 40: Step response of a PID controller

According to DIN 19 225, such a controller obeys the following controller equation:

∆y = K P • ⎛ e + ------ e • dt + T d • -----⎞
1 de
⎝ Tn ∫ dt ⎠

(ideal PID controller)

As already discussed in the previous section, the individual parameters (KP , Td , Tn ) have different
effects on the individual components.

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3 Continuous controllers
larger XP (corresponds to smaller KP ): corresponds to smaller P component
larger Tn : corresponds to reduced I component
larger Td : corresponds to increased D component

On some controllers with PID action, Td and Tn cannot be adjusted separately. Practical experi-
ence has shown that optimum performance is obtained with a ratio Td = Tn / 4 to 5. This ratio is fre-
quently a fixed setting on the controller, and only one parameter can be varied (usually Tn ).
We can summarize by noting that the PID controller brings together the best characteristics of the
P, I and D controllers. The P component responds with a suitable manipulating variable when a de-
viation occurs. The D component counteracts changes in the process variable, and increases the
stability of the control loop. The permanent deviation is removed by the I component. The PID type
of controller is used for most applications.

3.6.1 Block diagram of the PID controller

Fig. 41: Block diagram of the PID controller

As we have already seen in this chapter, from the controller equations for the PI, PD and PID con-
trollers, the I and D actions of a PID controller are influenced not only by the adjustment of the Tn
and Td parameters, but also by the proportional gain with XP . If the proportional gain of a PID con-
troller is doubled (by halving XP), the controller not only has double the proportional action, but the
I and D components are also increased to double the value.
An example
The PID controller shown in Fig. 41 has settings Tn = 10sec and XP = 100 (the D component should
be disregarded in this example). The control deviation is 2.
When KP and XP are given as percentage values, the P component has a gain of:

1 ⎛ K P = ------ • 100 %⎞
1
⎝ XP ⎠
The control deviation is thus offered directly to the I component. We already know from Chapter 3.3
“I controller”, that an I controller requires a time equal to Tn to fully reproduce the input signal at its
output (percentage values). The I component would thus require 10sec before it has increased its
manipulating variable by 2%. XP is now set to 50, so that the gain of the P component is 2.
Now the control difference is first amplified by a factor of 2, before it is offered to the I component.
The I component now increases its manipulating variable by 4% every 10 seconds. The effect of
the I component was also amplified by a factor of 2.
Changing the proportional gain in a PID controller
changes the I and D action to the same extent

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 4 Control loops with continuous controllers
4.1 Operating methods for control loops with continuous controllers
The previous chapters dealt with the individual elements of a control loop, the process and the
controller. Now we consider the interaction between these two elements in the closed control loop.
Amongst other things, the stable and unstable behavior of a control loop should be examined, to-
gether with its response to setpoint changes and disturbances. In the section on “Optimization”,
we will come across the various criteria for adjusting the controller to the process.
We also often refer to the static and dynamic behavior of the control loop. The static behavior of a
control loop characterizes its steady state on completion of all dynamic transient effects, i.e. its
state long after any earlier disturbance or setpoint change. The dynamic behavior, on the other
hand, shows the behavior of the control loop during changes, i.e. the transition from one state of
rest to another. We have already discussed this kind of dynamic behavior in Chapter 2 “The pro-
cess”.
When a controller is connected to a process, we expect the process variable to follow a course like
that shown in Fig. 42.

Fig. 42: Transition of the process variable in the closed control loop

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4 Control loops with continuous controllers
- After the control loop is closed, the process variable (x) should reach and hold the predeter-
mined setpoint (w) as quickly as possible, without appreciable overshoot. In this context, the
run-up to a new setpoint value is also called the setpoint response.
- After the start-up phase, the process variable should maintain a steady value without any appre-
ciable fluctuations, i.e. the controller should have a stable effect on the process.
- If a disturbance occurs in the process, the controller should again be able to control it with the
minimum possible overshoot, and in a relatively short response time. This means that the con-
troller should also exhibit a good disturbance response.

4.2 Stable and unstable behavior of the control loop

After the end of the start-up phase, the process variable should take up the steady value, predeter-
mined by the setpoint, and enter stable operation. However, it could happen that the control loop
becomes unstable, and that the manipulating variable and process variable perform periodic oscil-
lations. Under certain circumstances, this could result in the amplitude of these oscillations not re-
maining constant, but instead increasing steadily, until it fluctuates periodically between upper and
lower limit values. Fig. 43 shows the two cases of an unstable control loop.
Here, we often talk about the self-oscillation of a control loop. Such unstable behavior is mostly
caused by low noise levels present in the control loop, which introduce a certain restlessness into
the loop. Self-oscillation is largely independent of the construction of the control loop, whether it
be mechanical, hydraulic or electrical, and only occurs when the returning oscillations have a larger
amplitude than those sent out, and are in phase with them.

Fig. 43: The unstable control loop

If certain operating conditions, (e.g. new controller settings), are changed in a control loop that is in
stable operation, there is always a possibility of the control loop becoming unstable. However, in
practical control engineering, the stability of the control loop is an obvious requirement. We can
generalize by stating that stable operation can be achieved in practice by choosing a sufficiently
low gain in the control loop and a sufficiently long controller time constant.

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 4 Control loops with continuous controllers
4.3 Setpoint and disturbance response of the control loop
As already mentioned, there are basically two cases which result in a change in the process vari-
able. When describing the behavior of a process in the control loop, we use the terms setpoint re-
sponse or disturbance response, depending on the cause of the change:
Setpoint response
The setpoint has been adjusted and the process has reached a new equilibrium.
Disturbance response
An external disturbance affects the process and alters the previous equilibrium, until a stable pro-
cess value has developed once again.
The setpoint response thus corresponds to the behavior of the control loop, following a change in
setpoint. The disturbance response determines the response to external changes, such as the in-
troduction of a cold charge into a furnace. In a control loop, the setpoint and disturbance respons-
es are usually not identical. One of the reasons for this is that they act on different timing elements
or at various intervention points in the control loop.
In many cases, only one of the two types of process response is important.
When a motor subjected to continuously variable shaft loading still has to maintain a constant
speed, it is clearly only the disturbance response which is of importance. Conversely, in the case of
a furnace, where the charge has to be brought to different temperatures over a period of time, in
accordance with a specific setpoint profile, the setpoint response is of more interest.
The purpose of control is to influence the process in the desired manner, i.e. to change the setpoint
or disturbance response. It is impossible to satisfactorily correct both forms of response in the
same way. A decision must therefore be made whether to optimize the control for disturbance re-
sponse or setpoint response. More about this in the section on “Optimization”.

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