PID

CONTROLLER

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INTRODUCTION
A proportional-integral-derivative controller (PID
controller) is a control loop feedback mechanism (controller)
widely used in industrial control systems (Programmable
Logic Controllers, SCADA systems, Remote Terminal Units
etc).
More than 90% of all industrial controllers are implemented using
this popular control law.

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 the error in outputs by adjusting
the process control inputs.
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 The PID controller algorithm involves three separate

constant parameters, and is accordingly sometimes called
three-term control: the proportional, the integral and derivative
values, denoted P, I, and D.
Simply put, these values can be interpreted in terms of time:
P depends on the present error, I on the accumulation of past
errors, and D is a prediction of future errors, based on current
rate of change.
The weighted sum of these three actions is used to adjust the
process via a control element such as the position of a control
valve, a damper, or the power supplied to a heating element.
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PID CONTROLLER

Y ( s)
Gc( s )
(K p Ki / s Kd )
X ( s)
The output of the controller is proportional to the error signal (Pterm), the integral signal (I-term), and the derivative of the error signal
(D-term) through the gains Kp, Ki, and Kd, respectively.
In practice, variations of the above control law are also implemented,
such as a PI controller, which has only the P and I terms, or a PD
controller, which has only the P and D terms.
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PROPORTIONAL MODE
With the proportional mode, the size of the controller output
is proportional to the size of the error.
This means that the correction elements of the control
system (eg: valve), will receive a signal which is proportional to
the size of the correction required.
A gain element with transfer function Kp in series with the
forward-path element G(s)

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 Thus the error is,

KpG ( s )
E ( s)
R( s)
1 KpG ( s )
Always a steady state-error. Low values of Kp give large steady-state errors
but stables responses. High values of Kp gives samller steady-state errors but
a greater tendency to instability.

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DERIVATIVE CONTROL
With the derivative mode of control the controller output is
proportional to the rate of change with time of the error signal.
This can be represented by the equation

de
controller output K D
dt
Kp is the constant of proportionality. The transfer function is
obtained by taking Laplace transforms, thus

controller output(s) K D sE ( s )
Hence the transfer function is K D s
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 With derivative control, as soon as the error signal begins to

change, there can be quite a large controller output since it is
proportional to the rate of change of the error signal and not its
value.
Rapid initial responses to error signals thus occur.

Shows the controller output that results when there is a

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constant ratePowerpoint
of change of
error signal with time.

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 The controller output is constant because the rate of change

is constant and occurs immediately the deviation occurs.
Derivative controllers do not, however, respond to steadystate error signals, since with a steady error the rate of change
of error with time is zero.
Because of this, derivative control is always combined with
proportional; the proportional part gives a response to all error
signals, including steady signals, while the derivative part
response to the rate of change.
Derivative action can also be a problem if the measurement
of the process variable gives a noise signal, the rapid
fluctuations of the noise resulting in outputs which will be seen
by the controller as rapid
changes in error and so give rise to
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significant outputs from the controller.

Proportional plus derivative (PD) control

Derivative control is never used alone because it is not
capable of giving an output when there is a steady state error
signal and so no correction is possible.
It is thus invariably used in conjuction with proportional
control so that this problem can be resolved.
With proportional plus derivative control the controller output
is given by

controller output K p e K D

de
dt

Kp is the proportionality constant and KD the derivative

constant, de/dt is the rate of change of error.
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 The system has s transfer function given by,

controller output(s) K p E ( s ) K D sE ( s )
Hence the transfer function is K p K D s . This is often written as

1
transfer function K D ( s )
TD
Where TD K D / K p and is called the derivative time constant.

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Shows how the controller output can vary when there is a constants
changing error. There is an initial quick change in controller output
because of the derivative action followed by the gradual change due to
proportional action. This form of control can thus deal with fast process
changes.
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INTEGRAL CONTROL
The integral mode of control is one where the rate of change
of th control output I is proportional to the input error signal e:

dI
KIe
dt
KI is the constant of proportionality and has units of 1/s.
integrating the above equations gives
Iout

dI K e dt
I

Io

I out I 0 K I e dt
0

I0 is the controller output at zero time, Iout is the output at time

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 The transfer function is obtained by taking the Laplace

transform. Thus

( I out

1
I 0 )( s ) K I E ( s )
s

And so

1
transfer function K I
s

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 Illustrates the action of an integral controller when there is a

constant error input to the controller. We can consider the
graphs in two ways. When the controller output is constant, the
error is zero; when the controller output varies at a constant
rate, the error has a constant value. The alternative way of
considering the graphs is in terms of the area under the error
graph:
t
area under the error graph between t 0 and t

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e dt
0

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 Thus up to the time when the error occurs the value of the
integral is zero. Hence Iout = I0.
When the error occurs it maintains a constant value. Thus the
area under the graph is increasing as the time is increases.
Since the area increases at a constant rate the controller
output increases at a constant rate.

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Proportional plus integral (PI) control

The integral mode of control is not usually alone but is
frequently used in conjuction with the proportional mode. When
integral action is added to a proportional control system the
controller output is given by

controller output K p e K I e dt
The transfer function is thus

KI K p
1
s
transfer function K p

s
s
TI
Where TD K D / K p and is the integral time constant.
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 shows how the system

reacts when there is anabrupt
change to a constant error.
The error gives rise to a
proportional controller output
which remains constant since
the error does not change.
There is then superimposed
on this a steadily increasing
controller output due to the
integral action.
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Shows
the
effects
of
the
proportional action and the integral
action if we create an error signal
which is increased from the zero value
and then decreased back to it again.
With proportional action alone the
controller mirrors the change and ends
up back at its original set point value.
With the integral action the
controller
output
increases
in
proportion to the way the area under
the error-time graph increases and
since, even when the error has
reverted back to zero, there is still a
value for the area, there is a change in
controller
output which continues after
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the error has ceased.

PID CONTROLLER
Combining all three modes of control gives a controller known
as a three-mode controller of PID controller.
The equation describing its action can be written as

controller output K p e K I e dt K D

de
dt

Taking the Laplace transformgives

controller output(s) K p E ( s )

1
K I E ( s ) sK D ( s )
s

And so

1
1
transfer function K p e K I sK D K p 1
TD s
s Templates
TI s
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THE END

THANK YOU & GOOD LUCK

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