University of Technology

Electromechanical Eng. Dept.

Division: Electromechanical
Systems
Automation &Control

Lecture 5
Dr.Wisam Essmat
[email protected]
PID Controller Dr.Wisam Asmat

Controls Unit (software)

The second component of automation systems are the units control (controls software’s) ,
which use to controlling the systems operations . Where the control units working
to makes the system stable or more stability by adjust the timing and the working
between the subparts of system to reach to the best result for the planned work and this
done with the help of sensors or measuring elements. The controller compares the actual
value of the system output with the reference input (desired value), determines the
error or deviation, and produces a control signal that will reduce the error or deviation to
zero or to a very small value. It provides four main abilities in automatic control systems:

Controlling the movement of parts of system in correct workspace Sensing the

information from the environment
Being able to intelligent control behavior
Processing the data and information between all subparts.

Proportional-Integral-Derivative controller
(PID controller)
A proportional-integral-derivative controller (PID controller) is a control loop feedback
mechanism (controller) widely used in industrial control systems.

This type of controller is widely used in industry, does not require accurate model of the
plant or process being controlled and can be understood by most engineers without being
a control expert. The PID controller algorithm involves three separate
constant parameters, and is accordingly sometimes called three-term control:

The proportional (P); The integral (I);

The derivative (D);

The output of a PID controller is a summation (Σ) of the proportional (P), integral (I), and
derivative (D). A PID controller calculates an error value as the difference
between a measured process variable and a desired set point. The controller attempts to
minimize

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PID Controller Dr.Wisam Asmat

the error by adjusting the process through use of a manipulated variable as

shown in figure 1, which it represents the basic block diagram of a PID controller
system.

Figure (1). shown the PID control

Where
Kp : Proportional Gain ; and use to decrease
the rise time
Ki : Integral Gain ; and use to eliminate the
steady-state error.
Kd : Derivative gain ; and use to reduce the
e= r(t)- y(t)
overshoot and settling time
e: error

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PID Controller Dr.Wisam Asmat

The Equation which represents the general equation of PID

∫𝟎 𝒆(𝒕)𝒅𝒕 + 𝑲𝒅. 𝒅𝒕
controller: 𝒕 𝒅

𝒖(𝒕) = 𝑲𝒑 . 𝒆(𝒕) + 𝒆(𝒕)--------(1)

𝑲𝑰

Take Laplace
𝑲
𝒖(𝒔) = 𝑲𝒑. 𝑬(𝒔)
𝑰 + 𝒔
. 𝑬(𝒔) + 𝑲𝒅𝒔.
𝑬(𝒔)--------(2)
𝑲
𝑰

𝒖(𝒔) = 𝑬(𝒔)[𝑲(𝒔) 𝒑 + 𝒔 +𝑲 � 𝒅𝒔]--------(3)

= (𝑲� + � �+𝑲
: 𝒖𝑬(𝒔 � 𝒔) --------
𝑲
Take (T.F)
(4) ) � � �

If the stander forms:

𝑲 𝑲𝒅 = 𝑲
𝑲𝑰
𝒑𝑻𝒅
and
=
𝒑

𝑻𝑰

Sub stander forms in equations (4):

Then, the final form of (PID) controller equation is:
𝟏
𝒖(𝒔) = 𝑲𝒑(𝟏 +� 𝑻 𝑺
+𝑻𝒅𝒔) 𝒕𝒉𝒆 (𝑲𝒑) 𝒃𝒆𝒄𝒐𝒎𝒆𝒔
𝐋𝐞𝐭 𝑺𝒖𝒑𝒑𝒐𝒔𝒆
�

(𝑲 𝒄𝒓)
With the PID controller transfer function:
𝟏
𝑪(𝒔) = 𝑲𝒄𝒓(𝟏 +
--------(5)
𝑻𝑰
Where: +𝑻𝒅𝒔) 𝑺

TI: is the integral time constant

Td: is the derivative time
constant.
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PID Controller Dr.Wisam Asmat

Kcr: is the critical proportional gain value.

Ziegler Nichols Rules for Tuning PID Controllers
Although there are only three parameters in a PID controller, it’s difficult to tune the PID
controller since these three parameters could influence or even conflict with each other.
There are several feasible PID tuning methods are available for the solution the problem
and get the values of (KP, KI and Kd).

But the Ziegler–Nichols method was reported as the best tuning method when
both performance and robustness are considered.

Ziegler and Nichols devised two empirical methods for obtaining (PID) controller
parameters, even with computer aids; the following two methods are still
employed today, and are considered among the most common. These methods are:

1.Ziegler-Nichols Open Loop Method

2.Ziegler-Nichols Closed - Loop Tuning Method

These two methods were used to describe a two simple mathematical procedures which
using to tuning PID parameters i.e. (KP, KI and Kd).

These procedures are now accepted as standard in control systems practice. Both
techniques make a priori assumptions on the system model. Ziegler-Nichols formulae for
specifying the controllers are based on plant steps or processes steps responses.

The second method (Ziegler-Nichols Closed - Loop Tuning Method) was chosen
for study.

Ziegler and Nichols proposed rules for determining values of the proportional gain, (Kp)
integral time, (Ti) and derivative time (Td) based on the response characteristics
according to the formula shown in Table 1. And through these values we can be
calculated the values of Proportional Gain (Kp), Integral Gain (Ki) and Derivative
gain(Kd ).

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PID Controller Dr.Wisam Asmat

Pcr =
𝟐𝝅 �
�
Where:
Pcr: period of oscillation

The Tuning Procedure:

1.Remove integral and derivative action by set the integral time (𝑇𝑖) to ∞ and set the
derivative controller (𝑇𝑑) to zero.

2.Record the gain value (𝐾𝑐𝑟) and period of oscillation (𝑃𝑐𝑟).

3.Plug these values into the Ziegler-Nichols closed loop equations and determine
the necessary settings for the controller.

Example (1): Determine the parameters of PI & PID controller by using the Z-N method
for the model which given as shown below:

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PID Controller Dr.Wisam Asmat

Solution: Use equation (5)

1-Sub in eq(5), (TI=∞ & Td=0) then the eq(5) became

(𝐾𝑐𝑟)

2-Take transfer function for system

𝒚 𝑮𝟏 .𝑮
(TS):
(𝒓(𝒔)
𝒔)
𝟐
𝟏+𝑮𝟏 .𝑮𝟐
=

𝟏𝟎𝐾c
r
(𝑺+𝟏𝟎)
--------(6)
(𝑺𝟐+𝟑𝑺+𝟔)+𝟏𝟎𝐾cr
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PID Controller Dr.Wisam Asmat

3-Neglect the numerator of equation (6). [(6( ‫ةلداعمال طسب‬

‫] المهإ‬

Then we are getting:

(𝑺 + 𝟏𝟎)(𝑺𝟐 + 𝟑𝑺 + 𝟔) + 𝟏𝟎𝐾cr = 𝟎

𝑺𝟑 + 𝟏𝟑𝑺𝟐 + 𝟑𝟔𝑺 + 𝟔𝟎 +
𝑺𝟑 + 𝟑𝑺𝟐 + 𝟔𝑺 + 𝟏𝟎𝑺𝟐 + 𝟑𝟎𝑺 + 𝟔𝟎 + 𝟏𝟎𝐾cr =--------
𝟎
𝟏𝟎 𝑲𝐜𝐫 = 𝟎
𝑺 = 𝒋𝝎 in eq (7)
(7)

Sub
NOTE:

(−𝒋𝝎)𝟑 − 𝟏𝟑(𝝎)𝟐 + 𝟑𝟔(𝒋𝝎) + 𝟔𝟎 + 𝟏𝟎 𝒋 = √−𝟏

𝑲𝐜𝐫 = 𝟎 𝒋2 = −𝟏
−𝟏𝟑(𝝎)𝟐 + 𝟔𝟎 + 𝟏𝟎 𝑲𝐜𝐫 = 𝟎 ---- (8) (Real 𝒋3 = −𝒋
(−𝒋𝝎)𝟑 + 𝟑𝟔(𝒋𝝎) = ----
numbers) 𝟎 (9) (Imaginary numbers)

For eq(9)

(−𝒋𝝎)𝟑 + 𝟑𝟔(𝒋𝝎) = 𝟎

(𝝎)𝟑 − 𝟑𝟔(𝝎) = 𝟎

(𝝎)𝟑 = 𝟑𝟔(𝝎)

𝝎𝟐 = 𝟑𝟔

𝝎=𝟔

Sub the value of (ω ) in eq (8)

−𝟏𝟑(𝟔) 𝟐 + 𝟔𝟎 + 𝟏𝟎
408
𝑲𝐜𝐫==𝟎
𝑲𝐜𝐫 =
10
40.8
−𝟒𝟔𝟖 + 𝟔𝟎 + 𝟏𝟎 𝑲𝐜𝐫
= 𝟎 𝟐𝝅 �
Pcr =
�

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PID Controller Dr.Wisam Asmat
𝟐𝝅
�
Pcr =
=1.04 �
For table (1), the parameters of (PI)
Controller

Kp= 0.45 𝐾cr

Kp= 0.45 ∗ 40.8

𝑷𝒄𝒓
Kp=18.36
TI= 𝟏.𝟎𝟒
𝟏.𝟐
= 𝟏.𝟐
=0.866
𝑲 𝟏𝟖.𝟑
𝑲𝑰 =𝒑 �𝑻 𝟔
𝟎.𝟖𝟔
= 21.2
� 𝟔

=
For table (1), the parameters of (PID)
Controller

Kp= 0.6 𝐾cr

Kp= 0.6 ∗ 40.8

Kp= 24.48 TI=0.5 Pcr TI=0.5 *1.04 TI=0.52

𝑲 𝟐𝟒.𝟒
𝑲𝑰 =𝒑 �𝑻 𝟖𝟎.𝟓 = 47.07
𝟐
𝑲𝒅 = 𝑲 𝒑𝑻𝒅
�

=
𝑻𝒅 = 𝟎. 𝟏𝟐𝟓 𝐏𝐜𝐫 = 𝟎. 𝟏𝟐𝟓
∗ 𝟏. 𝟎𝟒

𝑻𝒅 = 𝟎. 𝟏𝟑

𝑲𝒅 =24.48* 𝟎. 𝟏𝟑

𝑲𝒅 = 𝟑. 𝟏𝟖

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PID Controller Dr.Wisam Asmat

Example (2): By using the Z-N method determine the parameters (K P,TI,Td) for
the below model?

Where:
𝟓 𝟎,𝟒 𝟐
𝑮 ,𝑮 ,𝑮
𝟐 = 𝟐𝑺+𝟏 𝟑 = 𝟓𝑺+𝟏 𝟒 = 𝑺+𝟏

Solution:

1. Use equation (5) & Sub (TI=∞ & Td=0) then the eq (5) became
(𝐾𝑐𝑟)

2-Take transfer functions for system

𝒚 𝑮𝟏 .𝑮𝟐.𝑮𝟑 .
(TS):
(𝒓(𝒔)
𝒔) 𝑮𝟒
𝟏+𝑮𝟏 .𝑮𝟐.𝑮𝟑 .𝑮𝟒
𝑮𝟏 . 𝑮𝟐. 𝑮𝟑 . 𝑮𝟒== 𝟐𝐾𝑐𝑟. 𝟐𝑺+𝟏 .
𝟓 𝟎,𝟒

𝟓𝑺+𝟏
. 𝑺+𝟏
=𝐊𝐜𝐫∗𝟓∗𝟎.𝟒∗𝟐
𝐊𝐜𝐫∗𝟓∗𝟎.𝟒∗𝟐 =
𝟒𝐊
𝐜𝐫 (sub
=
(𝟐𝑺+𝟏).(𝟓𝑺+𝟏).(𝑺+𝟏) (𝟐𝑺+𝟏).(𝟓𝑺+𝟏).(𝑺+𝟏) (𝟐𝑺+𝟏).(𝟓𝑺+𝟏).
(𝑺+𝟏)
in
eq 𝒚 (𝒔 )
𝒓(𝒔)
𝑮𝟏 .𝑮𝟐.𝑮𝟐𝟑.𝑮
𝟏+𝑮 .𝑮 𝟑 𝟒.𝑮𝟒
=
.𝑮
(TS): 𝟏

1
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PID Controller Dr.Wisam Asmat

𝟒𝐊𝐜 𝟒𝐊𝐜
𝒚 ( 𝐫
( 𝟐𝑺 +𝟏) .( 𝟓𝑺 + 𝟏) .
𝐫
( 𝟐𝑺 +𝟏) .( 𝟓𝑺 +𝟏) .( 𝑺
𝟒𝐊𝐜𝐫
𝒔) = 𝟏+
( 𝑺 +𝟏)
𝟒𝐊𝐜
+𝟏)
(𝟐𝑺+𝟏).(𝟓𝑺+𝟏).
= =
𝐫
𝒓(𝒔) (𝟐𝑺+𝟏).(𝟓𝑺+𝟏).
( 𝟐𝑺 +𝟏) .( 𝟓𝑺 + 𝟏) .( 𝑺
(𝑺+𝟏) (𝑺+𝟏)+𝟒𝐊𝐜𝐫
𝒚( 𝒔) 𝟒𝐊𝐜𝐫+𝟏) +𝟒𝐊𝐜𝐫 (𝟐𝑺+𝟏).
𝒓(𝒔 (𝟐𝑺+𝟏).(𝟓𝑺+𝟏). (𝟓𝑺+𝟏).(𝑺+𝟏)
)=
(𝑺+𝟏)+𝟒𝐊𝐜𝐫
3-Neglect the numerator of (TS) equation :

(𝟐𝑺 + 𝟏). (𝟓𝑺 + 𝟏). (𝑺 + 𝟏) + 𝟒𝐊𝐜𝐫 = 𝟎 10𝑺𝟑

+ 𝟏𝟕𝑺𝟐 + 𝟖𝑺 + 𝟏 + 𝟒𝐾cr = 𝟎

Sub S=𝒋𝝎
10(𝒋𝝎)𝟑 + 𝟏𝟕(𝒋𝝎)𝟐 + 𝟖(𝒋𝝎) + 𝟏 + 𝟒𝐾cr = 𝟎

−𝟏𝟎𝒋𝝎𝟑 − 𝟏𝟕𝝎𝟐 + 𝟖(𝒋𝝎) + 𝟏 + 𝟒𝐾cr = 𝟎

−𝟏𝟕𝝎𝟐 + 𝟏 + 𝟒 𝑲𝐜𝐫 = 𝟎 ---- (8) (Real numbers)

−𝟏𝟎𝒋𝝎𝟑 + 𝟖(𝒋𝝎) ---- (9) (Imaginary numbers)

= 𝟎 Imaginary numbers
From

−𝟏𝟎𝒋𝝎𝟑 + 𝟖(𝒋𝝎)
=𝟎

𝟏𝟎𝝎𝟑 = 𝟖𝝎(𝝎)=𝟏
𝟐 𝟖

=0.8 𝟎
𝝎 = 𝟎. 𝟖𝟗𝟒

Sub the value of (ω ) in eq of Real

numbers

−𝟏𝟕 ∗ 𝟎. 𝟖𝟗𝟒𝟐 + 𝟏 + 𝟒 𝑲𝐜𝐫

=𝟎

−𝟏𝟐. 𝟔 + 𝟒 𝑲𝐜𝐫 = 𝟎
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PID Controller Dr.Wisam Asmat

𝟒 𝑲𝐜𝐫 =
𝟏𝟐. 𝟔
𝟏𝟐.
𝑲𝐜𝐫 𝟔 = 𝟑.
= 𝟏𝟓
�
�
�
Pcr =
𝟐𝝅

𝟐
�
Pcr = 𝝅
𝟎.𝟖𝟗
=7.02
𝟒
For table (1), the parameters of (PID)
Controller

Kp= 0.6 𝐾cr

Kp= 0.6 ∗ 3.15

Kp= 1.89 TI=0.5 Pcr TI=0.5 *7.02 TI=3.51

𝑻𝒅 = 𝟎. 𝟏𝟐𝟓 𝐏𝐜𝐫 = 𝟎. 𝟏𝟐𝟓 ∗ 𝟕. 𝟎𝟐

𝑻𝒅 = 𝟎. 𝟖𝟕

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