University of Science and

Technology
College of Engineering

Proportional-Integral-Derivative (PID)
Digital Control Seytem

Mechatronics 4

Student Name:
Alhussain A.Allahloh

Supervisor: Supervisor Name

Gihad Al-Abadi

November 20, 2024

1. Introduction
A PID controller is a control loop feedback mechanism widely used in industrial control
systems. It continuously calculates an error value as the difference between a desired
setpoint and a measured process variable. The controller attempts to minimize this error
by adjusting the process control inputs.
Proportional-Integral-Derivative (PID) controllers are essential tools in the field of con-
trol systems, renowned for their versatility and efficacy in a wide range of industrial
applications. These controllers operate by continuously calculating the error value as the
difference between a desired setpoint and a measured process variable, applying correc-
tions based on proportional, integral, and derivative terms. Proportional (P) Control
The proportional component provides an output directly proportional to the current er-
ror value. This approach helps in reducing the overall error magnitude and speeds up the
system response. However, it cannot eliminate steady-state errors, which necessitates the
inclusion of additional control actions. Integral (I) Control The integral component ad-
dresses the accumulation of past errors by integrating the error over time. This approach
effectively eliminates steadystate errors, ensuring the system reaches the desired setpoint.
However, it can introduce slow response and potential instability if not properly tuned.
Derivative (D) Control The derivative component predicts future errors by considering
the rate of change of the error. It introduces a damping effect, reducing overshoot and
oscillations, and thus enhancing system stability. This component is particularly useful in
systems with rapid changes or requiring swift response adjustments. Combined Control
Strategies.

1.1. Literature Review

• Conduct a comprehensive review of existing literature on PID controllers.

• Identify key papers, historical developments, and advancements in PID control.

• Analyze the applications of each component: P (Proportional), I (Integral), D

(Derivative), PI, PD, and PID.

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1.2. Research Objectives

• Define clear objectives for your research.

• Example objectives:

• Analyze the performance of individual components (P, I, D).

• Compare the effectiveness of combined controllers (PI, PD, PID).

• Investigate tuning methods for each configuration.

1.3. Experimental Design

• Model Selection: Choose a suitable system model (e.g., thermal system, motor
control) for testing the controllers.

• Simulation Tools: Utilize software like MATLAB/Simulink for simulation and anal-
ysis.

• Controller Design: Design controllers using standard tuning methods (e.g., Ziegler-
Nichols, Cohen-Coon).

2. P-Controller

2.1. Definition

A P-Controller, or Proportional Controller, is a type of feedback controller used in control

systems. It adjusts the control input to a system based on the proportional error, which
is the difference between a desired setpoint and a measured process variable.

2.2. Block Diagram

The block diagram of the feedback loop controller D is shown in Figure 1

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 Figure 1: An example image Proportional (P) Control.

2.3. Equation and Curve

Equation:
The equation for a P-Controller is:

u(t) = Kp · e(t)

• u(t) is the control output.

• Kp istheproportionalgain.e(t)istheerrorsignal(e(t) = setpointprocess variable).

Curve:
The response of a P-Controller can be visualized as a linear relationship between the
error and the control output, where the slope is determined by Kp .F ig5

An example curve for P-Controller

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.
.

2.4. Application

P-Controllers are commonly used in:

• Temperature control systems (e.g., thermostats)

• Speed control of motors

• Level control in tanks

• Any system where a simple control mechanism is sufficient

2.5. Advantages and Disadvantages

Advantages:

• Simple to implement and understand

• Provides a straightforward method to reduce steady-state error

• Quick response for systems without complex dynamics

Disadvantages:

• Can lead to steady-state error if not tuned properly

• Does not account for system dynamics like oscillations or delays

3. D-Controller

3.1. Definition

A D-Controller is a feedback controller that outputs a signal proportional to the derivative

of the error signal, aiming to predict and mitigate future system errors based on the rate
of change of the current error.

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3.2. Block Diagram

The block diagram of the feedback loop controller D is shown in Figure 2

Figure 2: An example image Derivative (D) Control

3.3. Equation and Curve

Equation:
The output u(t) of a D-Controller is given by:

de(t)
u(t) = Kd
dt

Where:

• Kd = Derivative gain

• e(t) = Error signal e(t) = r(t) - y(t)

• r(t) = Reference input

• y(t) = System output

Response Curve:
In a step-input scenario, the D-Controller does not react to constant error but provides
a significant response to sudden changes (slopes). The curve exhibits sharp spikes corre-
sponding to rapid error changes.

3.4. Application

• Motion Control Systems:

Mitigates overshoot and oscillations in robotic arm control or CNC machines.

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 • Process Control:
Used in systems where rapid correction of error is needed, e.g., temperature control.

• Stability Enhancement:
Helps improve damping in oscillatory systems like suspension systems.

• High-Speed Systems:
Radar or missile control systems requiring rapid response.

3.5. Advantages and Disadvantages

Advantages:

• Improves Stability:Reduces oscillations and overshoots in control systems.

• Predictive Nature: Anticipates and corrects errors before they grow large.

• Fast Response: Effective in handling rapidly changing systems.

Disadvantages:

• Sensitivity to Noise: Amplifies high-frequency noise due to differentiation.

• No Response to Constant Errors: Ineffective in steady-state error correction.

• Complex Tuning: Requires precise gain adjustment for effective performance.

• Limited Standalone Use: Often combined with other controllers (P or PI) for
practical applications.

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4. I-Controller

4.1. Definition

An I-Controller is a type of controller in a feedback control system where the control

action is proportional to the integral of the error over time. It is designed to eliminate
steady-state errors by accumulating the error signal over time and applying a correction
to the control input.

4.2. Block Diagram:

The block diagram of the feedback loop controller I is shown in Figure 3

Figure 3: An example image Integral (I) Control.

4.3. Equation and Curve:

Equation:
The control action u(t) is given by:
Z t
u(t) = Ki e(τ ) dτ
0

where:

• u(t): Output of the controller

• Kd Derivative gain

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 • e(t): Error signal

• t: Time

Response Curve:
The D-Controller acts sharply in response to rapid changes in error, reducing oscillations
and improving damping.fig6

Figure 4: An example curve for I-Controller .

4.4. Applications

Suitable for systems requiring damping to reduce overshoot or oscillations, such as:

• Robotics.

• Aerospace applications.

• High-precision motion control.

• Any system prone to instability or oscillations.

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4.5. Advantages and Disadvantages

Advantages:

• Predicts and mitigates rapid changes in error.

• Improves system stability and transient response.

• Reduces overshoot and oscillations.

Disadvantages:

• Sensitive to noise in the system.

• Does not address steady-state error.

• Difficult to tune without a complementary controller.

5. PID-Controller

5.1. Definition

A PID controller (Proportional-Integral-Derivative controller) is a feedback control sys-

tem widely used in industrial control systems. It continuously calculates an error value
as the difference between a desired setpoint and a measured process variable and applies
a correction based on proportional, integral, and derivative terms. These terms adjust
the system to minimize error over time, improving stability and performance.

5.2. Block Diagram

The block diagram of the feedback loop controller I is shown in Figure 4

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 Figure 5: An example image Proportional-Integral-Derivative (PID) Control

5.3. Equation and Curve

PID Equation: The PID control output u(t) is given by:

Z t
de(t)
u(t) = Kp e(t) + Ki e(τ ) dτ + Kd
0 dt

Where:

• u(t): Control output.

• e(t): Error (SP - PV).

• Kp : Proportional gain.

• Ki : Integral gain.

• Kd : Derivative gain.

Response Curve
A PID controller can produce the following types of system responses:

• Underdamped: Quick response but overshoots the setpoint.

• Critically damped: Reaches the setpoint without overshooting.

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 Figure 6: An example image Proportional-Integral-Derivative (PID) Curve

• Overdamped:Slower response, no overshooting.

5.4. Applications

PID controllers are used in a variety of systems where precise control is essential:

• Industrial automation: Controlling temperature, pressure, or flow in manufac-

turing systems.

• Robotics: Maintaining stability and position control.

• Aerospace:Autopilot systems for aircraft.

• Home appliances: Thermostat control in HVAC systems.

• Process industries:Maintaining chemical reaction rates or fluid levels.

5.5. Advantages and Disadvantages

Advantages:

• Simple and effective for most control problems.

• Combines the benefits of proportional, integral, and derivative control.

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 • Easily tunable for different systems.

• Reduces steady-state error (Integral term) and improves stability (Derivative term).

Disadvantages:

• Tuning can be complex for non-linear systems.

• Sensitive to noise, particularly the derivative term.

• Inefficient for rapidly changing or highly dynamic systems.

• May require additional filtering for smooth operation.

6. Comparsion of P,D,I,PID

6.1. Proportional (P) Control

• Characteristics:
o Output is directly proportional to error.
o Control signal = Kp * error.

• Applications:
o Systems where speed is more critical than precision.
o Ideal for simple, non-critical processes.

• Tuning Considerations:
o Increase Kp to reduce rise time.
o Beware of increasing overshoot and oscillations.

6.2. Derivative (D) Control

• Characteristics:
o Responds to the rate of change of error.
o Control signal = Kd * derivative of error.

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 • Applications:
o Systems needing fast response and damping of oscillations.
o Not used alone due to noise sensitivity.

• Tuning Considerations:
o Adjust Kd to improve system stability and reduce overshoot.
o Sensitive to measurement noise; filtering may be necessary.

6.3. Integral (I) Control

• Characteristics:
o Integrates error over time, focusing on past errors.
o Control signal = Ki * integral of error. 17

• Applications:
o Systems requiring elimination of steady-state error.
o Useful in processes with constant disturbances.

• Tuning Considerations:
o Increase Ki to eliminate steady-state error faster.
o Too high a Ki can lead to excessive overshoot and instability.

6.4. Proportional-Integral-Derivative (PID) Control

• Characteristics:
o Integrates all three controls for comprehensive error correction.

• Applications:
o Most versatile, used in diverse applications like temperature, speed, and position
control.

• Tuning Considerations:
o Complex to tune; methods include Ziegler-Nichols, trial-and-error, and software-
based algorithms.
o Proper tuning necessary to balance speed, stability, and precision.

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7. Conclusion
PID control remains a cornerstone of control engineering due to its simplicity, effective-
ness, and versatility across diverse applications. Its ability to balance responsiveness,
stability, and accuracy makes it indispensable in both traditional and modern control
systems. Despite challenges such as handling non-linearities and time delays, advances
in tuning methods and computational tools continue to enhance its performance.
The integration of PID controllers with digital technologies and adaptive algorithms
promises even greater potential, allowing for real-time adjustments and improved robust-
ness. As industries increasingly move towards automation and smart systems, PID control
will continue to play a crucial role in ensuring efficient and reliable process management.
Future research and development will likely focus on overcoming current limitations, such
as improving performance in systems with significant delays and non-linear dynamics, and
expanding the applicability of PID control in more complex and dynamic environments.
Moreover, the ongoing development of intelligent control strategies, like model pre-
dictive control and machine learning-based approaches, offers exciting opportunities to
complement and enhance PID control. By leveraging these advancements, the adaptabil-
ity and efficiency of control systems can be significantly increased, paving the way for
more sophisticated and autonomous industrial operations.
In summary, while PID control is a mature technology, its evolution continues along-
side technological advancements, ensuring its relevance and utility in the evolving land-
scape of control systems engineering.

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