Classical Control
Proportional, Integral, Derivative
(PID) Control
Proportional Control
Consider a closed loop control system with input R(s) and
output C(s). In proportional control, control signal e(t) is
proportional to the actuating error signal. i.e.
u(t) e(t)
or u(t) = Kpe(t)
where k is constant of proportionality which is called
Proportional Gain or Proportional Controller. In
frequency
U(s ) domain we write U(s) = KpE(s) or
K
E(s ) p
R(s) E(s) U(s) C(s)
+ Kp Plant
e(t) u(t)
Properties of the proportional control:
• Decreases rise time
• Increases overshoot
• Decreases steady state error (but cannot ensure zero
steady state error).
• Negligible effect on the settling time
Example: Consider the following system
The transfer function of the system is
X(s ) 1
F(s ) ms bs k
2
Let m = 1 kg, b = 10 Ns/m, k =20 N/s and F = 1 N
X(s ) 1
F(s ) s 10s 20
2
Now let us introduce the proportional controller
Kp as shown below:
R(s) E(s) U(s) 1 C(s)
+ Kp
s 10s 20
2
The closed loop transfer function is
X(s) K
p
F(s ) s 10s 20 K
2
Choose Kp = 300. The step response with and
without proportional controller is shown
below.
Step Response
0.04
Amplitude
0.02
0
0 0.5 1 1.5 2 2.5
Time (sec)
Step Response
0.04
Amplitude
0.02
0
0 0.5 1 1.5 2 2.5
Time (sec)
Step Response
Amplitude
0.5
0
0 0.5 1 1.5
Time (sec )
Problems with Proportional Control
• Proportional control can stabilize simpler
system only.
• It may not satisfy all transient and steady state
requirements.
• Cannot ensure zero steady state error.
Proportional Plus Integral Control
A proportional plus integral (PI) controller is
defined as follows:
u(t ) K e(t ) K e( )d
t
p i
0
where Ki is the Integral gain. In frequency
domain, we write
K
U(s ) K E(s ) E(s ) i
s
p
or
U(s ) K
K i
E(s ) s
p
The above transfer function is also written as
C(s ) 1
K 1
E(s ) c
Ts
i
where K
Kc = Kp and T K
p
Properties:
• ensures zero steady state error
• decreases rise time
• increases overshoot and settling time
• It may has destabilizing effect
• Increases the system type by 1.
The closed loop response of the mass damper
spring system with PI control (Kp = 30, Ki = 70)
is given below.
Step Response
1.4
1.2
1
Amplitude
0.8
0.6
0.4
0.2
00 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8
Time (sec)
Proportional Plus Derivative Control
A proportional plus derivative (PD) control is defined as follows:
de(t )
u(t ) K e(t ) K
p
dt d
In frequency domain we write
or
U(s ) K E(s ) K sE(s )
p d
U(s )
K sK
E(s )
p d
or
U(s )
K 1 sT
E(s )
c d
where Kc = Kp and T = Kd/Kp
A derivative control may reduce both overshoot and settling time.
Proportional Integral Derivative Control
A proportional + integral + derivative (PID) control is
expressed as
d
u(t ) K e(t ) K e( )d K
t
e(t )
p i
0
dt d
In frequency domain we write
U(s ) K
K K s i
E(s ) s
p d
or
U(s ) 1
K 1 Ts
E(s ) c
Ts i
d
Desired transient and steady state specifications may
be achieved with proper PID parameters.
Ziegler Nichols Tuning Rules
First method (Process Reaction Curve method
or Open Loop Method):
• This method is suitable for those plants which
neither involve integrator(s) nor dominant complex
poles.
• The open loop step response (also called process
reaction curve) of most plant is s shaped as shown on
the next slide:
The transfer function of the plant may be
approximated as
U(s ) Ke Ls
E(s ) Ts 1
• According to the Ziegler Nichols first method,
the PID controller parameters may now be
found from the following table:
Type of Kc Ti Td
controller
P T/L 0
PI 0.9T/L L/0.3 0
PID 1.2T/L 2L 0.5L
Second Method (Closed Loop Method or
Frequency Domain Method)
• First set Ti = and Td = 0. Increase Kp from 0 to
a crtitical value Kcr where output first exhibits
sustained oscillations. Note Kcr and Pcr (period
of oscillation).
• Use the following Table to find the ID
parameters:
Type of Kp Ti Td
controller
P 0.5Kcr 0
PI 0.45Kcr Pcr/1.2 0
PID 0.6Kcr 0.5Pcr 0.125Pcr
Example: Consider the control system shown
below. Find the PID controller parameters Kp,
Ti and Td by using the Ziegler Nichols
frequency domain method.
Solution: A PID controller has the transfer
function
1
G (s ) K 1 T s
Ts
c p d
i
Step1: Assume that Ti = and Td = 0. Now the closed loop
transfer function is
C(s ) K
p
R (s ) s 6s 5s K
3 2
p
The Routh Table is now constructed as
s3 1 5
s2 6 K p
s (30-Kp)/6
s0 K p
The sustained oscillation will occur when
(30 – Kp)/6 = 0 or Kp = 30
i.e Kcr = 30
The characteristic equation of the closed loop
system with Kp = 30 is
s3 + 6s2 + 5s + 30 = 0
substitute s = j
(j)3 + 6(j)2 + 5j + 30 = 0
6(5-2) + j(5 - 2) = 0
The frequency of sustained oscillation is found
as:
5 - 2 = 0 or 2 = 5 or = 2.236 rad/s.
Now Pcr = 2/2.236 = 2.8099
Step 2: Using the Ziegler Nichols tuning rules,
PID parameters are calculated as
Kp = 0.6Kcr = 0.630 = 18
Ti = 0.5Pcr = 0.52.8099 = 1.405
Td = 0.125Pcr = 0.1252.8099 = 0.35124
Example 2: Find PID parameters for the plant
1
G (s )
(s 1) 4
Solution: Method1: The process reaction curve
with tangent at the point of inflection is
shown below:
1
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
0 2 4 8 10 12 14
1.425 5.89
From the above curve
K = 1, L = 1.425 and T = 5.89 – 1.425 = 4.465
The PID parameters can now be calculated by
the ZN rules as follows:
Kp = 1.2T/L = 1.2× 4.465/1.425 = 3.76
Ti = 2L = 2× 1.425 = 2.85
Td = 0.5L = 0.5×1.425 = 0.7125
1.6
1.4
Step Response
Amplitude
1.2
1
0.8
0.6
0.4
0.2
00 5 10 15 20 25 30 35 40
Time (sec)
Method2: Let Ti = and Td = 0. The resulting
closed loop system is shown below:
R(s) + 1 C(s)
Kp
- s 1
4
The closed loop transfer function is
C(s ) K
p
R (s ) s 4s 6s 4s 1 K
4 3 2
The characterisitic equation
s4 + 4s3 + 6s2 + 4s +1 + Kp = 0
Now the Routh Table is constructed as
s4 1 6 1+Kp
s3 4 = 1 4 = 1
s2 5 1+Kp
s (4-Kp )/50
s0 1+Kp
For sustained oscillation
(4 – Kp)/5 = 0 and 1+ Kp = 0
Kp = 4 and Kp = -1
Taking the positive value of Kp
Kcr = 4
Now the closed loop transfer function (with P
control only) is
C(s ) 4
R (s ) s 4s 6s 4s 5
4 3 2
Step Response
2
Amplitude
0
0 5 10 15 20 25 30 35 40 45 50
Time (sec)
Now substituting s = j in the characteristic
equation we have
(j)4 + 4(j)3 + 6(j)2 + 4(j) + 5 = 0
(4 - 6 + 5) + 4j(1 - 2) = 0
4 - 62 + 5 = 0 or 1 - 2 = 0
(2 - 1)(2 - 5)=0 or 1- 2 = 0
= 1 or = 2.236
Now
Pcr = 2/1 or Pcr = 2/2.236
Pcr = 6.28 or Pcr = 2.81
For Kcr = 4 and Pcr = 6.28, the PID settings are
Kp = 0.6Kcr = 2.4, Ti = 0.5Pcr = 3.12,
Td = 0.125Pcr = 0.785
The overall closed loop step response with PID
control is shown below.
1.4
Step Response
1.2
1
Amplitude
0.8
0.6
0.4
0.2
00 2 4 6 8 10 12 14 16 18
Time (sec)
