PID-APPLIED CONTROL SYSTEMS

(PROPORTIONAL PLUS INTEGRAL PLUS

DERIVATIVE CONTROL)
 INTRODUCTION
The purpose of a control system is to keep
the process variable close to the desired
value in spite of disturbances.
A block diagram of a simple control loop is
as shown on the next slide.
. The system has two major components: the Process and the Controller.
These are represented by boxes with arrows showing the relationship between
the inputs and outputs.
Gc ( s) G (s)

y sp y
+ e u Plant
Controller Process
-

H ( s)

Fig.1 Simple control loop block diagram

 The process has one input which is the
manipulated variable/control variable u .
The process output (y) is the process variable
(PV).
The process output is measured by a sensor.
The desired value of the process variable is
called the set point ( y ).
sp

The control error is the difference between the

set point and the process variable (y) i.e.

e ysp y
 The controller has several parameters that can be
adjusted.
A correct choice of the parameters will help the control
loop to perform well.
Poor performance is related to instability.
The procedure of finding the controller parameters is
called tuning.
Tuning can be done in different ways.
One approach is to choose some controller parameters
to observe the behavior of some feedback system, and
to modify the parameters until the desired behavior is
obtained.
The second approach is to first develop the
mathematical model that describes the behavior of the
process.
The parameters of the controller are then determined
using some method for control design.
Both approaches require some understanding of the
techniques for determining process dynamics such as:
 a. use of static models
b. transient response method etc.
These methods are less sensitive to noise
and are not restricted to any specific input
signal.
 Industrial Controllers
Control engineering involves the design of
an engineering product/system to
accurately control some quantity (temp,
speed of an electric motor, etc).
To do this, one needs to know the value of
the quantity being controlled.
Control is achieved in two basic ways:
a. Open loop control (manual)
b. Feedback/closed loop control (automatic).
 Classical controller design involves the choice of
a suitable transfer function ( G ) in the controller
c

or possibly H so that the closed loop

performance meets the required specifications
(required output).
This is achieved with simple transfer functions.
Three such common transfer functions are:
a.The phase lead controller
b.The phase lag controller
c. The PID (proportional, Integral and Derivative)
controller.
System specifications often include that there
should be no steady-state error to a step input.
 The phase lead and lag controllers which do not include
the integral term are normally used with plant transfer
functions with an integral term.
Many transfer functions of processes or plants do not
have integral term.
For this reason such plants/processes are used with PID
or PI controller to achieve zero steady-state error to a
step input.
Therefore, automatic industrial controllers can be
classified as:
a. Phase lead controllers
b. Phase lag controllers
c. PID controllers
 PID controllers can also be used on plants with
an integration term but still with steady-state
errors caused by constant disturbances.
The PID controller eliminates the steady-state
error in such processes.
Phase lead controllers
A phase lead controller is normally used when
the plant transfer function ( G (s)) has an
integration.
If that is the case, then consider fig 2 below:
 We can assume that Gc K and that H=1
Then, it will be found that;
Kv where Kv is a constant
lim s 0 Gc ( s)G ( s)
s

y sp y
+ e u
Gc ( s)
G(s)
-

H ( s)

Fig.2 Simple control loop block diagram

The larger the value of Kv the smaller will be an error to a ramp input.
 The phase lead content is normally determined when it is
assumed that Gc (0) 0 so that it does not affect Kv .
The general transfer function of a phase lead controller is
therefore taken as: 1 sT
G ( s)
where 1 s T
is a function of bandwidth and noise
When 1 the transfer function produces a phase lead.
In the frequency domain, the values of and T are
selected for the phase lead controller to compensate the
open loop frequency response locus and achieve a pre-
selected phase margin.
 Increasing the phase margin will reduce
the overshoot in a step response.
Compensation in phase lead controllers is
achieved by choosing the correct values of
and .
The maximum phase lead is given by:
1
sin 1
1
 The corresponding frequency for
maximum phase lead is: max 1
T
The gain at this frequency is:
G(j ) 20log10 10log10
Phase Lag Controllers
A phase lag compensator is achieve with the
transfer function: 1 sT
G ( s)
1 s T
when 1.
Lag compensation is achieved by correct choice of
values of and as previously explained.
 PID CONTROL
Most plants in industry do not contain an integration term in their
transfer functions.
To achieve zero error in steady-state response to step input, it is
necessary to have an integration term in the forward path.
An integration term is normally required in the controller for these
plants.
The use of PID controllers containing proportional, integral and
derivative terms is a logical form of a fixed term controller for those
plants without an integration term in their transfer function.
PID controllers have been used extensively in process control in
industry for many years.
The ideal transfer function of a PID controller is given by:
1
G ( s ) K c 1 sTd
i
sT D

with the loop error as the input to the controller.

where;
K c proportinal Gain
K c sTd Deri vative component
1
Kc Integral Component
sTi D
D Disturbance input to system

The basic PID control system is shown as a

block diagram on the next slide.
 Controller

+
ysp e
Kc
-

+
+ Plant/ y
K c sTd Process

1
Kc
sTi D

H(s)

Fig 2. Basic PID control System

 Proportional Response
When K is increased, the gain increases
c

and the system may start to oscillate.

It determines the ratio of the output response
to the error signal.
As K is increased further, oscillations become
c

larger and larger and the system becomes

unstable and may even oscillate out of
control.
Integral Response
The integral component sums the error term
over time.
Any small error term will cause the integral
component to increase slowly.
The integral response continually increases over
time unless the error is zero.
Therefore the effect of the integral component is
to drive the steady-state error to zero.
The steady-state error is the final difference
between the process variable and the set-point.
A phenomenon where the integral action
saturates a controller while driving the error
signal toward zero, is called integral windup.
Derivative Response
The derivative component causes the output to decrease
when the process variable is increased rapidly.
The derivative response is proportional to the rate of
change of the process variable.
Increasing the derivative time Td parameter will cause
the control system to react more strongly to changes in
the error term and will increase the speed of overall
control system response.
Most practical control systems use very small derivative
time because the derivative response is highly sensitive
to the noise in the process variable signal.
If the feedback sensor signal is noisy, or if the control
loop rate is too slow, the derivative response can make
the control system unstable.
 PID Controller Tuning
The process of setting the optimal gains
for P, I and D to get the ideal response
from a control system is called tuning.
There are different methods of tuning, of
which Ziegler method, the Guess and
Check methods will be discussed.
There is need therefore of selecting an
appropriate PID algorithm.
 Trial and Error Method of Tuning
The method is based on the understanding of the importance of
each gain parameter in the control system.
First, the I and D terms are set to zero and the Proportional (P) gain
increased until the output of the loop oscillates.
As one increases the P gain the system becomes faster, so, care
must be taken not to make the system over oscillate.
Once P has been set to get the desired fast response, the integral (I)
term is increased to stop the oscillations.
The integral term reduces the steady-state error but increases the
overshoot.
In system design, some amount of overshoot is necessary for a fast
system so that the system can respond to changes immediately.
The integral term is adjusted to achieve a minimum steady-state
error.
Once the P and I have been set to get a fast control system with
minimal steady-state error, the derivative term is increased until the
loop is acceptably quick to its set-point.
 Increasing the derivative term decreases
the overshoot and yields a higher gain with
stability though the system becomes
highly sensitive to noise.
There is need therefore, to trade-off
between the characteristics of a control
system to better meet their requirements.
 The Ziegler-Nicholas Tuning
Method
This is one popular method of tuning the PID
controllers.
It is very similar to the Trial and Error method
above, where I and D are initially set to zero and
P increased until system/loop starts to oscillate.
Once the oscillation starts, the critical gain Kc
and the period of oscillation P are noted.
c

The P, I and D are then adjusted according to

the table below.
Control P Ti Td

P 0.5Kc - -

PI 0.45Kc Pc/1.2 - -

PID 0.60Kc 0.5Pc Pc/8

Table 1. Ziegler-Nichols tuning, using the oscillation method.

Design and implement PID controllers
PID tuning and implementation involve several tasks that include:

1. Selecting an appropriate PID algorithm (P, PI, or PID)

2. Tuning controller gains
3. Simulating the controller against a plant model
4. Implementing the controller on a target processor
5. MATLAB and add-on products bring efficiency to these design
tasks by enabling you to:

6. Configure your Simulink PID Controller block for PID algorithm

(P,PI, or PID), controller form (parallel or standard), anti- windup
protection (on or off), and controller output saturation (on or off)
7. Automatically tune controller gains and fine-tune your design
interactively
8. Tune multiple controllers in batch mode
9. Run closed-loop system simulation by connecting your PID
Controller block to the plant model
10. Automatically scale controller gains to implement your
controller on a processor with fixed-point arithmetic
Questions