Yavuz Selim Inanir 11079711 Department of M-A&IT

Assignment Number: 1

1) Introduction
PID(Proportional Integral Derivative) control is a combination of all three types of
control methods. PID-control is most commonly used because it combines the advantages of
each type of control. This includes a quicker response time because of the P-only control,
along with the decreased offset from the combined derivative and integral controllers. This
offset was removed by additionally using the I-control. The addition of D-control greatly
increases the controller's response when used in combination because it predicts disturbances
to the system by measuring the change in error. Mathematical equation can be illustrated by
this equation.
1 

      
 

Parameters of the equations are ; c(t) is controller output , Kc is controller gain, e(t) is
error, Ti is integral time, Td is derivative time constant, C is initial value of controller.
2) Structure
Structure of PID control combines three different and separated control block. These
are P (Proportional),I(Integral) and D(Derivative).PID controller in standard structure:

3) Graphical Illustration
4) Problems
4a) Transfer Function of standard PID process;

SP ER MV PV
PID CS

PID block and plant (CS) block has own transfer function. In series connection close
loop systems equation is;

SP ER MV PV
K(1+1/TNs+TDs) V/1+Ts

Transfer function is;

    
PID controller can be reduced as     .Also plant block is
 


.We have closed loop system so there is no gain*.

 % % ) "&) &) " 

  #$              
!" & " & "
= = =
' $ ' $       

4b) Transfer Function of PID process;

I block, PD block and plant (CS) block has own transfer function. PD is system
feedback. System transfer equation is ;
Transfer function is;

 *  $ *  *
$ $
 1  1  + -  1 
 
    $  , 1  $   $   +  $ *
 . 1 

References
1) Katsuhiko Ogata Modern Control Engineering ISBN: 978-0-13-713337-6
2) K.Astrom, T Hagglund PID Controllers Design ISBN: 1-55617-516-7
3) Manfred Schleicher Control Engineering - A Guide For Beginners