Program Name:  

Bachelor of Engineering (B.E.)-Electrical Engineering 

Student Name: Sahil Rana Teacher name: Dr. Dhawan Singh

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Introduction
• A proportional–integral–derivative controller (PID
controller or three-term controller) is a control loop mechanism
employing feedback that is widely used industrial control
systems and a variety of other applications requiring continuously
modulated control. A PID controller continuously calculates
an error value {\display style e(t)} as the difference between a
desired setpoint (SP) and a measured process variable (PV) and
applies a correction based on proportional, integral,
and derivative terms (denoted P, I, and D respectively), hence the
name. In practical terms, PID automatically applies an accurate and
responsive correction to a control function. An everyday example
is the cruise control on a car, where ascending a hill would lower
speed if constant engine power were applied. The controller's PID
algorithm restores the measured speed to the desired speed with
minimal delay and overshoot by increasing the power output of the
engine in a controlled manner.

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History
The history of the PID controller is, In the year 1911, the first
PID controller was developed by Elmer Sperry. After that, TIC
(Taylor Instrumental Company) was implemented a former
pneumatic controller with completely tunable in the year1933.
After a few years, control engineers removed the error of
steady-state that is found within proportional controllers
through retuning the end to some false value until the error
wasn’t zero. This retuning included the error which is known
as the proportional-Integral controller. After that, in the year
1940, the first pneumatic PID controller was developed
through a derivative action to reduce overshooting problems.
In 1942, Ziegler & Nichols have introduced tuning rules to
discover and set the suitable parameters of PID controllers by
the engineers. At last, automatic PID controllers were
extensively used in industries in the mid of 1950.

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Block Diagram of PID controller
• A closed-loop system like a PID controller includes a feedback
control system. This system evaluates the feedback variable
using a fixed point to generate an error signal. Based on that, it
alters the system output. This procedure will continue till the
error reaches Zero otherwise the value of the feedback variable
becomes equivalent to a fixed point. This controller provides
good results as compared with the ON/OFF type controller. In
the ON/OFF type controller, simply two conditions are
obtainable to manage the system. Once the process value is
lower than the fixed point, then it will turn ON. Similarly, it will
turn OFF once the value is higher than a fixed value. The output
is not stable in this kind of controller and it will swing
frequently in the region of the fixed point. However, this
controller is steadier & more accurate as compared to the
ON/OFF type controller.

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Working
• With the use of a low-cost simple ON-OFF controller, only two
control states are possible, like fully ON or fully OFF. It is used for a
limited control application where these two control states are enough
for the control objective. However oscillating nature of this control
limits its usage and hence it is being replaced by PID controllers.
• PID controller maintains the output such that there is zero error
between the process variable and setpoint/ desired output by closed-
loop operations. PID uses three basic control behaviors that are
explained below. 
• P- Controller-
• Proportional or P- controller gives an output that is proportional to
current error e (t). It compares the desired or set point with the actual
value or feedback process value. The resulting error is multiplied with
a proportional constant to get the output. If the error value is zero,
then this controller output is zero.

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• This controller requires biasing or manual reset when used alone.
This is because it never reaches the steady-state condition. It
provides stable operation but always maintains the steady-state
error.  The speed of the response is increased when the proportional
constant Kc increases.

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• I-Controller
• Due to the limitation of p-controller where there always exists an
offset between the process variable and setpoint, I-controller is
needed, which provides necessary action to eliminate the steady-
state error.  It integrates the error over a period of time until the
error value reaches zero. It holds the value to the final control
device at which error becomes zero.
• Integral control decreases its output when a negative error takes
place. It limits the speed of response and affects the stability of
the system. The speed of the response is increased by decreasing
integral gain, Ki.

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Working Cont.
• In the above figure, as the gain of the I-controller
decreases, the steady-state error also goes on decreasing.
For most of the cases, the PI controller is used particularly
where the high-speed response is not required.
• While using the PI controller, I-controller output is limited
to somewhat range to overcome the integral wind
up conditions where the integral output goes on increasing
even at zero error state, due to nonlinearities in the plant.

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• D-Controller
• D-controller So, it reacts normally once the setpoint is
changed. D-controller overcomes this problem by
anticipating the future behavior of the error. Its output
depends on the rate of change of error with respect to
time, multiplied by derivative constant. It gives the
kick start for the output thereby increasing system
response.

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• In the figure response of D, the controller is
more, compared to the PI controller, and also
settling time of output is decreased. It improves
the stability of the system by compensating for
phase lag caused by I-controller. Increasing the
derivative gain increases the speed of response.
• So finally, we observed that by combining these
three controllers, we can get the desired response
for the system. Different manufacturers design
different PID algorithms.

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Types
• PID controllers are classified into three types like ON/OFF, proportional, and standard type controllers. These
controllers are used based on the control system, the user can be used the controller to regulate the method.
• ON/OFF Control-
• An on-off control method is the simplest type of device used for temperature control. The device output may
be ON/OFF through no center state. This controller will turn ON the output simply once the temperature
crosses the fixed point. A limit controller is one particular kind of ON/OFF controller that uses a latching relay.
This relay is reset manually and used to turn off a method once a certain temperature is attained .
• Proportional Control
• This kind of controller is designed to remove the cycling which is connected through ON/OFF control. This
PID controller will reduce the normal power which is supplied toward the heater once the temperature reaches
the fixed point.
• .

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• This controller has one feature to control the heater so that it will not exceed the fixed point however it will
reach the fixed point to maintain a steady temperature.
This proportioning act can be achieved through switching ON & OFF the output for small time periods. This
time proportioning will change the ratio from ON time to OFF time for controlling the temperature
• Standard Type PID Controller-
• This kind of PID controller will merge proportional control through integral & derivative control to
automatically assist the unit to compensate modifications within the system. These modifications, integral
& derivative are expressed in time-based units. These controllers are also referred through their
reciprocals, RATE & RESET correspondingly. The terms of PID must be adjusted separately otherwise
tuned to a specific system with the trial as well as error. These controllers will offer the most precise and
steady control of the 3 types of controller.

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Applications
• Temperature Control of Furnace-
• Generally, furnaces are used to include heating as well as holds a huge amount of raw material at huge
temperatures. It is usual for the material occupied to include a huge mass. Consequently, it takes a high
quantity of inertia & the temperature of the material doesn’t modify rapidly even when huge heat is applied.
 This feature results in a moderately stable PV signal & permits the Derivative period to efficiently correct
for fault without extreme changes to either the FCE or the CO.
• MPPT Charge Controller
• The V-I characteristic of a photovoltaic cell mainly depends on the range of temperature as well as
irradiance. Based on the weather conditions, the current and operating voltage will change constantly. So, it
is extremely significant to track the highest PowerPoint of an efficient photovoltaic system. PID controller
is used to finding MPPT by giving fixed voltage and current points to the PID controller. Once the weather
condition is changed then the tracker maintains current and voltage stable.

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• The Converter of Power Electronics-
• We know that converter is an application of power electronics, so a PID controller is mostly used in
converters. Whenever a converter is allied through a system based on the change within the load, then the
converter’s output will be changed. For instance, an inverter is allied with load; the huge current is supplied
once loads are increased. Thus, the parameter of voltage as well as the current is not stable, but it will alter
based on the requirement.
• In this state, this controller will generate PWM signals to activate the IGBTs of the inverter. Based on the
change within the load, the response signal is provided to the PID controller so that it will produce n error.
These signals are generated based on the fault signal. In this state, we can obtain changeable input & output
through a similar inverter.

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Advantages and Disadvantages
• Advantages of PID controller-
• The P Controller stabilizes the gain but produces a constant steady-state error.
• The I Controller reduces or eliminates the steady-state error.
• The D Controller reduces the rate of change of error.
• Generally, PID control algorithms, using in PLC controllers with many analog inputs and outputs, enable
control of many control loops. It is a great advantage.
•  
• Disadvantages-The system will become less stable.

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