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P, PI, and PID Controllers: Course - Control Engineering

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37 views16 pages

P, PI, and PID Controllers: Course - Control Engineering

Uploaded by

atendrasingh27111
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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P, PI, and PID Controllers

Course -Control Engineering

Presented by : Atendra Singh (Student ID: 2021uce0050)


Contents:
P,I,D controller
P controller
PI controller
PID controller
Overview of P, PI, and PID Controllers-

P (Proportional), PI (Proportional-Integral), and PID (Proportional-Integral-


Derivative) controllers are widely used control mechanisms in industrial control
systems.
They are designed to maintain a process variable (e.g., temperature, pressure,
speed) at a desired set point by adjusting the input to the system.

1.P (Proportional) controller adjusts output based on the current error, providing
faster response but leaving steady-state error.

2.The I (Integral) controller eliminates steady-state error by integrating past errors,


but it can slow the system and cause overshoot.

3.The D (Derivative) controller predicts future error by measuring the rate of


change, helping to reduce overshoot and stabilize the system..
1. P Controller (Proportional Controller)

The P controller generates an output signal that is proportional to the error e(t),
which is the difference between the desired setpoint and the actual process
variable.
• Control Law:

Laplace transform-

where:
• u(t) is the controller output (control signal).
• Kp​ is the proportional gain.
• e(t)= setpoint−process variable is the error.
Behavior:
A higher Kp results in a more aggressive response but can lead to oscillations or instability.
A pure P controller often leaves a steady-state error, especially in systems with disturbances or
non-linearities.
Advantages:
1.Simple and Easy to Implement
2.Fast reaction to changes in error
Disadvantages:
Steady-State Error:
A major drawback of the P controller is that it cannot eliminate steady-state error completely. As
the proportional gain increases, the system might reduce the error, but it cannot drive the error to
zero unless the gain is extremely high (which can cause other issues).
Oscillations at High Gain:
Increasing the proportional gain to reduce steady-state error can cause oscillations or even
instability in the system, leading to undesirable performance or system damage.
2. PI Controller (Proportional-Integral Controller)
The PI controller combines the proportional control with integral action. The integral
component sums up the past errors over time to eliminate steady-state error.

Control Law:

Laplace transform-

where:
Ki is the integral gain.
Ti is integral time
Behavior:
• The integral term eliminates the steady-state error by adjusting the output based on
the accumulated error over time.
• PI controllers are often used where precision is important, but excessive oscillation is
undesirable.
Advantages:

1.Eliminates steady-state error (offset).


2.Simple implementation, with smoother control
compared to a P controller.

Disadvantages:
1.May lead to slower response and overshoot if not tuned properly.
2.Can lead to instability if the integral term is too strong.

overshoot - when the output of a system exceeds its final value or target.
3. PID Controller (Proportional-Integral-Derivative Controller)
The PID controller combines proportional, integral, and derivative actions. The
derivative term provides a damping effect and anticipates future errors, improving
system stability and response time.
Control Law:

​where:
• Kd​ is the derivative gain.
Behavior:
• The proportional term corrects the present error.
• The integral term eliminates the past error.
• The derivative term predicts future error and helps reduce overshoot and
oscillations.
Advantages:

•Most versatile controller, providing fast response, reducing steady-state error, and damping oscillations.

•Offers better control of systems with complex dynamics.

Disadvantages:

•More complex to tune due to the added derivative term.

•If not tuned properly, it can lead to excessive noise sensitivity (especially in the derivative term).
Controller Control Action Advantages Disadvantages

P Controller Proportional to error Simple, fast response Leaves steady-state error

Eliminates steady-state
PI Controller Proportional + Integral Slower, risk of overshoot
error

Best for precise control,


Proportional + Integral + Harder to tune, sensitive
PID Controller reduces overshoot and
Derivative to noise
oscillations
Use Cases
P Controller is useful when you need a simple controller with quick response and can tolerate some
steady-state error.

PI Controller is used where steady-state accuracy is critical, like in temperature or pressure control
systems.

PID Controller is widely used in complex systems like robotics, motor speed control, and process
industries where precision and stability are vital.
Determine the stability of a control system using a Proportional (P) controller
with this plant transfer function.
transfer function: P(s) = 1 / (s - 1)

has a pole at s = 1. This indicates that the system is inherently unstable without a
controller.
C(s) = Kp

The closed-loop transfer function is given by:

G(s) = P(s)C(s) / (1 + P(s)C(s))


Substituting the given values:

G(s) = Kp / (s - 1 + Kp)
A system is stable if all poles of its closed-loop transfer function have negative real
parts.
The pole of G(s) is at
s = 1 - Kp.

For stability, we need:


1 - Kp < 0
Solving for Kp:
Kp > 1
The system with the given plant transfer function and a Proportional controller will
be stable if the proportional gain Kp is greater than 1. If Kp is less than 1 or equal to
1, the system will be unstable.
Kp determines the strength of the controller's response to errors. A higher Kp
means the controller will react more strongly to deviations from the desired
setpoint.
Determine the stability and performance of a control system using a
Proportional-Integral (PI) controller with this plant transfer function.
transfer function: P(s) = 1 / (s - 1)

transfer function C(s) = Kp + Ki/s

The closed-loop transfer function is:


G(s) = P(s)C(s) / (1 + P(s)C(s))
Substituting the given values:
G(s) = (Kp + Ki/s) / (s - 1 + Kp + Ki/s)

G(s) = (Kp*s + Ki) / (s^2 - s + Kp*s + Ki)


The characteristic equation is:
s^2 + (Kp - 1)s + Ki = 0
Using the quadratic formula, the poles are:
s = (-Kp + 1 ± sqrt((Kp - 1)^2 - 4Ki)) / 2
Stability Condition: Kp - 1 > 0 or Kp > 1 for stability when Ki > 0
Damping Conditions:
Underdamped: (Kp - 1)^2 < 4Ki
Critically Damped: (Kp - 1)^2 = 4Ki
Overdamped: (Kp - 1)^2 > 4Ki

Interpretation:
Stability:
The system is stable if both poles have negative real parts.
The condition Kp > 1 ensures that the real part of both poles is negative, making
the system stable.
This means the controller must have a proportional gain greater than 1 to stabilize
the system.
Damping:

The damping behavior of the system is determined by the relationship between Kp and Ki.

Underdamped: The system will oscillate before settling to the desired setpoint.

Critically Damped: The system will return to the desired setpoint as quickly as possible without
oscillating.

Overdamped: The system will return to the desired setpoint slowly and without oscillations.

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