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Control Systems ME-07B: Lec. Hamza Asif

This document discusses different types of controllers, including PID controllers. It explains that a PID controller uses proportional, integral and derivative control. Proportional control scales the output response based on the error. Integral control reduces steady state error by considering the area under the error curve over time. Derivative control improves transient response by considering the rate of change of error. A PID controller combines all three methods to control systems. The document provides examples of how each control method works and conditions where each would be applied.

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Safwan Nasir
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57 views13 pages

Control Systems ME-07B: Lec. Hamza Asif

This document discusses different types of controllers, including PID controllers. It explains that a PID controller uses proportional, integral and derivative control. Proportional control scales the output response based on the error. Integral control reduces steady state error by considering the area under the error curve over time. Derivative control improves transient response by considering the rate of change of error. A PID controller combines all three methods to control systems. The document provides examples of how each control method works and conditions where each would be applied.

Uploaded by

Safwan Nasir
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Control Systems

ME-07B
Lec. Hamza Asif
So what type of controller to use?
• Depends on your application…
• A common type of controller is the PID controller
• PID stands for Proportional, Integrated, Derivative
• Remember: A controller K(s) takes error E(s) as an input and gives out
U(s) as its output.
• So that means, it must do SOMETHING to the Error…
1. Proportional Control
• Proportional Controller simply scales up (or down) the response U(s) to errors
E(s). Hence it tries to quickly minimize error.
• Multiplication with a Constant Number.
• U(s)=Kp E(s)
• Can you tell for what values can it scale up the U(s)….And how it can scale
down?
Kp(s)

• Conditions:
• Deviation should not be large, it means there should be less deviation between the
input and output
• Deviation should not be sudden
2. Integral Control
•• The
  controller’s output U(s) is directly proportional to the integral of the error E(s) signal. Recall
that an integral is the area under the curve.
• Multiplication with the area under the error curve.

• U(s)=(Ki/s)E(s)
• If there was a steady state error (recall what it was) then there will always be some area under the
curve between our signal and the required reference. We would like to now reduce that area.
Ki/s
• Advantages:
• reducing the steady state error, thus makes the system more stable.
• slow response of the over damped system can be made faster
• Disadvantages:
• Increase the maximum overshoot of the system
3. Derivative Control
•• In
  a derivative controller the controller output U(s) is directly proportional to the derivative
of the error signal E(s).
• Multiplication with the rate of change of error E(s).

• U(s)=(sKi)E(s)
• Improves the transient response of the system. (Transient response, two main conditions
for changing response? (startup, abnormal conditions)

sKi
• Conditions:
• Applied when you want to capture the trend in change in error (e.g. also velocity when you are
controlling position)
• Never used alone as this has few drawbacks: does not reduce steady state error and also produces
certain noise effects
4. PD, PI, PID
• Mix and Match all of these Controllers according to need!

Kp
E(s) U(s)
Ki/s Σ 

sKd
An Unstable System
A Stable System
System Stability Representation
Behavior of a Second Order System
Control System Design (will be
continued)
Thank You!

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