Dynamic Systems and Control

Proportional Integral
Derivative (PID) Controller

Phuong-Tung Pham, Ph.D.

Department of Mechatronics
Faculty of Mechanical Engineering

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 CONTENTS

Introduction on PID Controller

Ziegler-Nichols tuning

Design PID Controller using the Root Locus

Design PID Controller using the Bode Plot

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 Introduction on PID
Controller

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Control System Design

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Control System Design

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Control System Design

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 On/Off Control

Reference signal r y
Incubator
+- On/Off control
e u

Feedback

e= r − y u
umax
umin , e < 0
u= umin
 umax , e > 0
e

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 Proportional Control

Reference signal r y
+ KP Incubator
-
e u

Feedback

Proportional control law:

u
 umax , e > e0 umax

u= u0 + K P e, −e0 ≤ e ≤ e0
umin
 umin , e < e0
 e

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 Proportional Control

Reference signal r y
+ KP Incubator
-
e u

Feedback

Proportional control law:

u
 umax , e > e0 umax

u= u0 + K P e, −e0 ≤ e ≤ e0
umin
 umin , e < e0
 e

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 Proportional + Integral Control

t
K I ∫ e( s )ds
0

Reference signal r
+ KP ++ Incubator
-
e u
y

Feedback

Proportional Integral (PI)

controller keeps adjusting 𝑡𝑡
the control signal as long as
there is an error 𝑢𝑢 𝑡𝑡 = 𝐾𝐾𝑃𝑃 𝑒𝑒 𝑡𝑡 + 𝐾𝐾𝐼𝐼 � 𝑒𝑒 𝑠𝑠 𝑑𝑑𝑑𝑑
0

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 Proportional + Integral + Derivative Control

t
K I ∫ e( s )ds
0

Reference signal r
KP ++
u Incubator
+

y
- e +

K D det / dt
Feedback

Add the prediction of the control error

e D
𝑡𝑡 𝑑𝑑𝑑𝑑
I P 𝑢𝑢 𝑡𝑡 = 𝐾𝐾𝑃𝑃 𝑒𝑒 𝑡𝑡 +𝐾𝐾𝐼𝐼 ∫0 𝑒𝑒 𝑠𝑠 𝑑𝑑𝑑𝑑+𝐾𝐾𝐷𝐷
𝑑𝑑𝑑𝑑
t
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 Responses of Controlled System
Oscillation!
on/off control law Proportional control law

No oscillation but stationary error

No stationary error but

PI control law slow convergence PID control law

Faster convergence Reduced oscillation

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 PID Controller
t
K I ∫ e( s )ds
0

Reference signal r
+ KP ++ Plant
-
e + u
y
K D det / dt
Feedback

t de  1 0 de(t ) 
u (t ) = K P e(t ) + K I ∫ e( s )ds + K D
0 dt
K
= p

e (t ) +
TI ∫
t
e(τ )dτ + TD
dt 


The three-term controller is called a PID controller because it contains a

proportional, an integral, and a derivative term represented by KP, KI, and KD,
respectively.
Proportional term (KP): provides inputs that correct for “current” errors
Integral term (KI): insures steady state error goes to error
Derivative term (KD): Provides “anticipation” of upcoming changes
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 PID Controller

Transter function of the PID controller

The transfer function of the derivative term is actually

but τd is usually much smaller than the time constants of

the process itself, so it is neglected.

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 Utility of PID
• PID control is most
common feedback
structure in engineering
systems
• For many systems, only
need PI or PD controller
• Many tools for tuning PID
loops and designing
gains

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 Ziegler-Nichols
Tuning

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 Tuning PID gain
There are many methods available to determine acceptable values of the PID
gains. The process of determining the gains is often called PID tuning.

• Manual PID tuning methods: The PID control gains are obtained by trial-
and-error with minimal analytic analysis using step responses obtained via
simulation, or in some cases, actual testing on the system and deciding on
the gains based on observations and experience.
• Ziegler–Nichols tuning method: A more analytic method. The Ziegler–
Nichols tuning method actually has several variations.

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 Closed-loop Ziegler–Nichols tuning method
Considers the closed-loop system response to a step input (or step disturbance) with
the PID controller in the loop.
• Initially the derivative and integral gains, KD and KI, respectively, are set to zero.
• The proportional gain KP is increased (in simulation or on the actual system) until
the closed-loop system reaches the boundary of instability.
• The gain on the border of instability, denoted by KU, is called the ultimate gain.
• The period of the sustained oscillations, denoted by PU, is called the ultimate period.
• Once KU and PU are determined, the PID gains are computed using the relationships
in Table

P
PU
PI 1 Cycle

PID

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 Open-loop Ziegler-Nichols tuning method
Utilizes a reaction curve obtained by taking the controller off-line (that is, out of the
loop) and introducing a step input (or step disturbance).
The process is a first-order system with a transport delay.
The reaction curve is characterized by the transport delay, ∆T , and the reaction rate, R

PI

PID

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 Open-loop Ziegler-Nichols tuning method
Example: Consider the reaction curve shown in the figure. We estimate the
transport lag to be ∆T = 0.1 s and the reaction rate R = 0.8.

Using the Ziegler–Nichols tuning for the PI controller gains we have:

Reaction curve Closed-loop response

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