1.

What is the relationship between the steady-state

error, gain and the tendency of oscillations when the
controller is supposed to be under the proportional
action?

a. Steady-state error increases with an increase in gain and

oscillation tendency

b. Steady-state error decreases with the decrease in gain

and oscillation tendency

c. Steady-state error decreases with an increase in gain

and oscillation tendency

d. Steady-state error increases with the decrease in gain

and oscillation tendency

View Answer / Hide Answer

ANSWER: c. Steady-state error decreases with an

increase in gain and oscillation tendency

PID Controller Objective Questions Answers

1. Proportional band of a controller is defined as the range
of:
a) Measured variable to the set variable
b) Air output as the measured variable varies from
maximum to minimum
c) Measured variables through which the air output varies
from maximum to minimum
d) None of the above

2. Proportional band of the controller is expressed as:

a) Gain
b) Ratio
c) Percentage
d) Range of control variables

3. The term reset control refers to:

a) Proportional
b) Integral
c) Derivative
d) None of the above

4. The integral control:

a) Increases the steady state error
b) Decreases the steady state error
c) Increases the noise and stability
d) Decreases the damping coefficient

5. In a proportional temperature controller, if the quantity

under the heater increases the offset will:
a) Increase
b) Reduce
c) Remain uneffected
d) None of the above

6. When derivative action is included in a proportional

controller, the proportional band:
a) Increases
b) Reduces
c) Remains unchanged
d) None of the above

7. The number of operational amplifiers require for

designing of electronic PID controller is:
a) 1
b) 2
c) 3
d) 6

8. Which of the following system provides excellent

transient and steady state response:
a) Proportional action
b) Proportional + Integral action
c) Proportional + Differential action
d) Proportional + Integral + Differential action

9. In a PID controller, the offset has increased. The

integral time constant has to be ___ so as to reduce offset:
a) Reduced
b) Increased
c) Reduced to zero
d) None of the above

10. In a PID controller, the overshoots has increased. The

derivative time constant has to be __ so as to reduce the
overshoots:
a) Increased
b) Reduced
c) Reduced to zero
d) None of the above

 1
The D in PID stands for ?

 • differential
 • derivative
 • difference
 • dwindle
 2
Which part of PID varies the average time to reach
target?

 •D
 •P
 •I
 3
Which part of PID controls the sensitivity?

 •D
 •I
  •P
 4
This is a common problem with PID ?

 • Error
 • Response
 • Windup
 5
How do we prevent Integral Windup?

 • subtract error
 • increase P
 • maximum error
 6
Which is the slowest type of controller ?

 • PD
 • PI
 • PID
PID Controllers Multiple Choice Questions
Question 1
Derivative control action is typically used when
controlling , but rarely used when controlling.
(A) Temperature, Flow
(B) Flow, Level
(C) pH, Temperature
(D) Level, Temperature
(E) Level, Flow
Answer : A
Question 2
processes always require some degree of
control action to achieve setpoint.
(A) Integrating, Derivative
(B) Integrating, Feedforward
(C) Self-regulating, Proportional
(D) Runaway, Linear
(E) Self-regulating, Integral
Answer : E
Question 3
The reciprocal of proportional band is called:
(A) Reset
(B) Percent
(C) Minutes per repeat
(D) Gain
(E) Rate
Answer : D
4 “Quarter-wave damping” may be described as:
(A) a condition of good control where PV
approaches SP without overshoot
(B) a condition of poor control where oscillations
continue at constant amplitude
(C) a condition of poor control where the transmitter
is damped by 25%
(D) a condition of good control where oscillations
quickly subside
(E) a condition of excellent control where there are
no oscillations
Answer : D
Question 5
Reset control action is often expressed in units
of:
(A) percent
(B) seconds per rate
(C) minutes
(D) time constant ratio (unitless)
(E) repeats per minute
Answer : E

Question 6
A proportional band setting of 175% is
equivalent to a gain setting of .
(A) 175
(B) 0.756
(C) 0.571
(D) 1.32
(E) 1.75
Answer : C
Question 7
The open-loop response of a process is shown
in the following trend. What sort of process is
indicated by this behavior?
(A) Integrating
(B) Proportional
(C) Linear
(D) Direct-acting
(E) Self-regulating
Answer : A
Question 8
A condition where integral control action drives
the output of a controller into saturation is
called:
(A) self-bias
(B) wind-up
(C) repeat
(D) noise
(E) o􀀽set
Answer : B
Question 9
Fast, self-regulating processes typically respond
well to aggressive control action.
(A) Nonlinear
(B) Derivative
(C) Proportional
(D) Reset
(E) Gain
Answer : D
Question 10
Process variable 􀀸ltering should be used:
(A) to dampen noise
(B) only on integrating processes
(C) to improve response time
(D) only on self-regulating processes
(E) never
Answer : A

What's the difference between integral and

derivative in a PID control algorithm?

The integral and proportional controllers perform the

same function. The difference is in the intervals over
which they operate.
A proportional controller looks at the error at an instant.
The integral controller on the other hand, looks at the
cumulative error over an interval before raising the input
proportionally. The advantage of this is that if the system
is experiencing rapid fluctuations, then they get averaged
out. The integral controller can thus be viewed as a sort of
high pass filter.
The disadvantage is that the transient response(speed of
response) is affected. the integral controller introduces
inertia into the system. Any change will take a while
before its effect is seen in the response.
The derivative controller is different from both the
proportional and integral controllers, because it does not
look at the error, but rather the rate of change of error. So
it tries to predict the position the system will be in at a
future instant, by looking at how fast it is changing.
This works okay if the rate of change is constant in the
interval over which you are measuring the change. For
slow fluctuations in input, this is the case. But for rapid
fluctuations, the derivative controller goes haywire.
If the rate of change varies over the interval you are
measuring the change, then the derivative controller tends
to over or under estimate the position, your system is
going to be in. By the time, it corrects itself, the system
may change state again. The derivative controller tries to
track this change again. Thus begins a cycle of catch-up
with the output, that results in oscillations and even
ringing.
In other words, the derivative controller is highly
sensitive to noise, especially high frequency noise.
Derivative vs Integral Controller - Which should I
Use?
A lot of designers say that avoiding a derivative controller
is a good practice to ensure stability. But this is just a
suspicion of high frequency signals. It must be
remembered that what determines stability is the loop
gain and phase.
Even an integrator, which is a high inertia device can
introduce oscillations, if the phase delay is an integral
multiple of 360 degrees and the gain greater than
unity.(Barkhausen Criterion). Instead of opposing the
input signal, the error then adds to it, and the integral can
make this a huge addition, leading to oscillations. So you
should look at the gain and phase margins, to evaluate
stability of the loop.
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Arihant Jain, works at Bhabha Atomic Research Centre
Answered Oct 5, 2014
Integral action tend to make the response oscillatory.
Derivative action is anticipatory type. It sees the rate at
which error is changing and accordingly adjusts the
controller output. It introduces sluggishness in the
response and dampens it,thereby reducing oscillation.
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Haresh K Miriyala, Engineer by birth , Dilettante Writer,
Creative thinker, Agent of Chaos.
Answered Jun 1, 2014
Integral sums up previous error values. Derivative takes
in the difference between the current and previous error
value.
620 Views · 1 Upvote

Why is derivative controller not used in control

system?
in control systems we never see using a derivative
controller,whats the reason of it ? and when we need a
derivative controller which we calculate in theory ,whats
the solution to fix the problem ?

 Controller Design
 Control Systems
 2 Recommendations
Popular Answers (1)
2 years ago
Mohamed Mousa
Tanta University
From the theoretical point of view, the D part of the PID
controller is not realizable because we cannot calculate
the D part (that is, the derivative of the error) for the
given present and past error (note that "realization" is
defined under the condition that the derivative is not
available and only the present and past error are
available). But, from practical point of view, the D part of
the PID controller can be realized by backward numerical
derivative with the sampling time of the PID controller.
Of course, using the numerical derivative with the
nonzero sampling time is an approximation of the D part.
Even though the D part of the PID controller is
approximately realizable, the ideal PID controller should
not used if the sampling time is small because the output
of the PID controller severely fluctuates, resulting in
shortening the life of actuators such as valves because
the sensitivity of the numerical derivative to noises is
inversely proportional to the magnitude of the sampling
time. So, commercial PID controllers usually suppress the
effects of noises by adding a low-pass filter to the D part.
 

All Answers (17)

2 years ago
Mohamed Mousa
Tanta University
From the theoretical point of view, the D part of the PID
controller is not realizable because we cannot calculate
the D part (that is, the derivative of the error) for the
given present and past error (note that "realization" is
defined under the condition that the derivative is not
available and only the present and past error are
available). But, from practical point of view, the D part of
the PID controller can be realized by backward numerical
derivative with the sampling time of the PID controller.
Of course, using the numerical derivative with the
nonzero sampling time is an approximation of the D part.
Even though the D part of the PID controller is
approximately realizable, the ideal PID controller should
not used if the sampling time is small because the output
of the PID controller severely fluctuates, resulting in
shortening the life of actuators such as valves because
the sensitivity of the numerical derivative to noises is
inversely proportional to the magnitude of the sampling
time. So, commercial PID controllers usually suppress the
effects of noises by adding a low-pass filter to the D part.

2 years ago
Mohamed Harmouche
Actility
Hello,
In tracking problem for system of relative degree more
than one, it's essential to use the derivative of error, else
we can not control the system. like linear controllers (PD,
PID), or Nonlinear controller like (twisting, sub-Optimal
...), There exist many robust differentiator in sliding
mode theory.
Otherwise, the derivative of the controller can be used as
main controller, that is called Extension of relative
degree in order to obtain robust continuous controller.
Hope that my answer helps you.


2 years ago
Prasanna Waichal
Fiji National University
So Mohamed - "So, commercial PID controllers usually
suppress the effects of noises by adding a low-pass filter
to the D part". By adding a low pass filter this way, do we
really cancel-out the derivative (D) effect by applying the
Inegration (I)? After all the low pass filter is nothing but
integration only.
2 years ago
Mohamed Harmouche
Actility
I would like to remind what is the utility of each term in
P, PI, PD, PID.
for system of degree one, like controlling the speed of DC
motor by the voltage, you can use P controller (hight
gain), by the error will not be zero. here we add an
integral action to get PI. PD can not be used as the
derivative of speed contains the control(voltage). PS:
there exist a non linear equivalent to PI, called
supertwisting.
for system of degree 2, like control of the position of
rotor by the voltage. Here it is impossible to use P
controller (we get an oscillating system), and for sure we
can not use PI (we get unstable system). The derivative
action is essential. so we use PD or PID. The integral
action is always used to eliminate static error.
Now how to get the derivative? the use of two
consecutive value will imply the increase of noice effect,
here we add a filter. but there is advanced differentiators
introduced in the last 25 years. They permit the exact
derivative. you can refer to the differentiation of Levant
for example.

2 years ago
Krishnarayalu Movva
Velagapudi Ramakrishna Siddhartha Engineering College
It seems the question is why derivative control alone is
not used. If the error is constnat ( not zero) then the
output of derivative controller is zero. So it won't work
satisfacorily.

2 years ago
Manuel De la Sen
Universidad del País Vasco / Euskal Herriko
Unibertsitatea
This is basically a problem of realizability. Both the
controlled plant and controller have to be realizable (
relative degree greater than or equal to zero- not more
zeros than poles- , and preferably greater than zero.
Assume that only the output and non the state is
available for control- this is a "worst- case situation" for
the problem at hand , and assume also that:
y (outpu)=G(transfer function)*u ( control)
The transfer function has relative degree
p=n(number of poles)-m( number of zeros)
derivatives of y -, tah tis -D(superj)j (y) can be got from
j=0 , the output itself uptil order D(super "p")y- but not
gretater since then s**(p+1)G(s) is not realizable. So
there is a maximum of order of output derivatives which
can be used by the controller while keeping realizability.
If there are a number of output deribvatives availbale in
the loop ( i.e. , not only the output is availbale) then
those ones can be used by the controller but ,if only the
output is available, then output derivatives have to be
generated by deriving the output but there is bound ( the
relative degrre) to do that to keep realizability of the
"new transfer functions" sG(s) up to (s**p)G(s). The
accuracy for good filtering of low-frequency noise is to
take derivatives uptil order p-1 or p-2 ( this is another
point to be taken into account if noise is expected).
2 years ago
Hugh Lachlan Kennedy
Technical Knockout Systems Pty. Ltd.
As Krishnarayalu Movva indicates, I am assuming you do
have a P term in there as well, so you are asking why do
we mainly see P or PI controllers, and why are PD and
PID controllers less common?
If you have an intrinsically stable plant and you are not
interested in really 'pushing the envelope' to get a
very rapid transient response, then a P or PI controller
will suffice.
Introduction of the D term allows you to be a bit cleverer
and that is when PID controller design
becomes challenging and interesting! When used
appropriately, it allows you to stabilize unstable plants,
increase stability margins, and get a very nice transient
response (i.e. rapid rise, low overshoot and fast
settling)
The main reason for not using the D term is that it
amplifies high frequency noise. This is particularly
noticeable at steady-state, where the controller will
never 'relax', it will be 'hyperactive' and always doing
something (jittery and jumping at shadows).
But that all depends on how the differentiator
is realized/implemented. (I am talking about a discrete-
time controller in what follows.) A simple 2-point
differentiator is not a good idea. As has already been
pointed out (by Mohamed Mousa) it is usually coupled
with a low-pass filter. But when you step back and look
at the low-pass filter and the differentiator together,
they really are one in the same - a differentiator that
attenuates high frequency noise. Indeed, I would argue
that they should be designed together/concurrently, as a
single unit, for best results. And what you are really
trying to do with this unit is to selectively apply a phase
lead, where it is needed most, without too much high-
frequency gain. See the attached papers for some ideas
on how this might be done.
Article Recursive Digital Filters With Tunable Lag and
Lead Characte...
Article An Adaptive Digital Filter for Noise Attenuation in
Sampled ...

2 years ago
Itzhak Barkana
BARKANA Consulting
Excellent answers.
I would say that you add D if you need.
If the system you control is “almost” good, then you may
just simply close the loop and fit a main (P - Proportional)
gain that results in satisfactory performance.
But then, you observe that you may end with steady-
state error, unless your gain is very large. Large gain may
excite oscillations, though, or create other kinds of new
problems.
Therefore, you may decide to add the I – Integral gain
which supplies the desired high gain, yet only at low
frequencies (infinite DC gain). Your system is then
supposed to move when there are tracking errors and
stop when errors are zero.
However, if your system is under-damped, it does not
stop at zero error and keeps oscillating around it. This is
why one needs D – Derivative gain, which provides the
damping derivative term (if this is a position control loop,
then D is velocity signal).
However, this is only in principle. In practice, it is one
thing to have a component (tachometer for velocity)
which supplies the velocity feedback and it is another
thing to differentiate the almost-always noisy tracking
error, because the D-term comes with high gain at high
frequencies. Sometimes people may only differentiate
the position output, because it has already “naturally”
been low-passed by the controllers and by the motor
time-constant, and supply D as a feedback signal.
In any case, there is always a trade-off between what you
would need in principle and the marginal effects in your
specific case.

2 years ago
Deleted profile
Added an answer
salam alikoum
For me the derivative action present a big problem in the
design of several controllers (feedback linearization,
backstepping), of better avoid them.
In PID controller (the action D it just give us information
about the error converge or diverge ... the D is not
sufficient) so we need another action P or PI to correct
the error . :)
2 years ago
Zigang Pan
N/A
Filtering is the key. If one do not have all state variables
measured, it is best to filer the output to recover the
entire state vector. This allows you to get a good
estimate of the derivative of your output as well.
2 years ago
Manuel De la Sen
Universidad del País Vasco / Euskal Herriko
Unibertsitatea
The answer of Zigang is interesting and often used in
practice. The filetering technique allows the availability
of as many successive derivatives as needed. In my
former answer, there is a maximum number of
derivatives ( pole-zero excess) allowed without violating
realizability. However, the use of identical stable filters
of any order for the input and the output introduces
stable -pole zero cancellations, in number equating the
filter order, in the new system so that the transfer
function becomes unaltered ( identical to the initial one)
but there is a number of stable cancellations so that we
can take always at least as many successive order
derivatives of the filtered output for control purposes
without violating realizability.
2 years ago
Poobalan Govender
Durban University of Technology
Simple answer - in the real world most control personnel
struggle to tune 2 parameters, namely the P and I.
Including the D adds another dimension to the tuning
exercise. If used properly, D-action offers good potential
to minimize the performance index.
If used, D-action should be configured to act on the
feedback in order to minimize the physical wear on loop
mechanical elements such as the control valve actuator
due to high frequency noise. Also, from a practical
viewpoint, D-action should only be used in processes
where the derivative is realizable, such as temperature
and pressure control and certain types of flow
applications where the process lag is relatively long.
2 years ago
Subathra . B
Kalasalingam University
Derivative controller mode will track your system
drastically to the set point. Some processes need much
more time to get complete (Bio Technology - Cell culture
test ie sampling time is very high nearly 2hrs) . In such
case, if we use D mode, controller performance surely
deteriorate. This mode is recommended for the system
which is having very less sampling time is 0.1 second
like.
For example, in Electrical machines applications we can
use D-mode. where as the sampling time is very less.
5 months ago
Sikandar Khan
Is there any system that operates on different variants of
the PID controller (like P-only, PI, PD, PID, PI-PD)
alternatively or simultaneously?
4 months ago
Wameedh Abdul-Adheem
University of Baghdad
Please refer to this article:
https://www.researchgate.net/publication/309655805_
On_the_Improved_Nonlinear_Tracking_Differentiator_b
ased_Nonlinear_PID_Controller_Design
Article On the Improved Nonlinear Tracking
Differentiator based Nonl...
4 months ago
Wameedh Abdul-Adheem
University of Baghdad
Please refer to this article:
https://www.researchgate.net/publication/309655805_
On_the_Improved_Nonlinear_Tracking_Differentiator_b
ased_Nonlinear_PID_Controller_Design
Article On the Improved Nonlinear Tracking
Differentiator based Nonl...
4 months ago
Subathra . B
Kalasalingam University
Hi,
Derivative controller is only suitable for the systems with
is having very less sampling time or time constant. For
those systems which is having large time constant
derivative controller is not suitable. Because D-mode will
drag the system to the set point at faster rate. In general
process control applications PD controllers are not widely
used. But where as, for electrical machines (very less
time constant) PD controller is more suitable.

Advantages of ON-OFF Controller

Only two output states i.e. ON and OFF.
Simple construction
Low cost
Disadvantages of ON-OFF Controller
Response of ON-OFF controller is slow.
Not suitable for complex system

Feedback control is the most popular control system

in use today in industrial control systems. The basic
function of feedback
control is to compute the error as the difference
between the controlled variable and the set point;
calculate and then output
the signal to a control valve actuator based on the
error.
To perform this function, feedback control can be
operated in three modes:
(a) Proportional or Gain Mode
(b) The Integral or Reset Mode
(c) The Derivative or Rate Mode
Here we shall discuss the basic function and
aspects of the Proportional, Integral and the
Derivative modes of feedback control systems.
The Proportional Mode:
The purpose of the proportional mode is to cause an
instantaneous response in the
controller output to changes in the error. The formula
for the proportional mode is given by:
KC*ERR
Where KC is the controller gain and ERR is the
error. The significance of the controller gain is that
as it increases so does the
change in the controller output. The controller output
also increases as the error increases.
The proportional mode is used to set the basic gain
value of the controller. The setting for the
proportional mode may be
expressed as either:
(1) Proportional Gain
(2) Proportional Band
Proportional Gain
In electronic controllers, proportional action is
typically expressed as proportional gain.
Proportional gain is expressed as:
Gain, (KC) = percentage change in controller output
divided by the percentage change in the controller
Input =
ΔOutput%/ΔInput%

Proportional Band
Proportional Band (PB) is another way of
representing the proportional gain. PB is the
percentage of change of the controller
input span that will cause a 100% change in
controller output:
PB = ΔInput (% Span) For 100% ΔOutput
The relationship between controller gain and its
proportional band is then given by
PB = 100/KC
Where:
PB = Proportional Band
KC = Controller gain
Limitations of Proportional Action:
(1) Proportional action responds only to a change in
error
(2) Proportional action will not return the PV to set
point. It will, however, return the process variable
(PV) to a value that is
within a defined span (PB) around the PV.
Integral Mode
The purpose of integral action is to return the PV to
SP. This is accomplished by repeating the action of
the proportional mode
as long as an error exists. The controller output from
the integral or reset mode is a function of the
duration of the error. With
proportional control only, there will always be a error
between the process variable (PV) and the set point
(SP). This error is
called an offset. The elimination of this offset or
steady state error requires the integral mode. The
integral mode does this by integrating the error over
a period of time interval. It is defined by the formula:
KC/TI ∫edt
Where:
KC = controller gain
TI = Integral constant or Reset time
t = time
Since integral control integrates the error over time,
the control action grows larger the longer the error
persists. This
integration of the error takes place until no error
exists. Every integral action has a phase lag of 90
degree and this phase shift
has a destabilizing effect. For this reason, we rarely
use I-control without P-control.
Integral, or reset action, may be expressed in terms
of:
Repeats Per Minute - How many times the
proportional action is repeated each minute.
Minutes Per Repeat - How many minutes are
required for 1 repeat to occur
Derivative or Rate Mode
Though integral mode is effective in eliminating the
offset, it is slower than the proportional mode in that
it must act over a
period of time. A faster than proportional mode is
derivative or rate mode. This speeds up the
controller action, compensating
for some of the delays in the feedback loop. It can
be expressed by the formula:
KC*TD* dERR/dt
Here TD is the derivative or rate time. The derivative
time is the time it takes the proportional mode to
match the
instantaneous action of the derivative mode on an
error that changes linearly with time (a ramp). It
should be noted that the
derivative mode acts only when there is a change in
error with time.
One key advantage of the derivative mode is that it
reduces the time required to return PV to SP in slow
processes. However, it
can dramatically amplify noisy signals in the
process. One other disadvantage is that it can lead
to cycling in very fast processes.

For sinusoidal input the phase of integral controller output lags by 90°. Which indicates sluggish
response. Therefore, the disadvantage of an integral controller is its response to errors is slow or
sluggish. However, it is capable of eliminating the error completely in the system
03) A proportional plus integral controller
has high sensitivity
increases the stability of the system
it increases rise time
both 2 and 3

Proportional plus integral controller characteristics: 1. For sinusoidal input, the phase of
controller output lags by tan-1 (1/ωTi). Hence it is similar to lag compensator. 2. In terms of
filtering property it acts as low pass filter. 3. It increases rise time. 4. It decreases band width. 5.
It decreases stability of the system. 6.The integral controller eliminates the offset of proportional
controller.

04) Which of the following controller is also known as anticipatory controller?

proportional controller
integral controller
derivative controller
both 1 and 3

Derivative mode is also known as rate controller mode, because the controller output is
proportional to rate of change of error. Its action is also known as anticipatory action. Because it
sends a control signal in anticipation of error. Therefore it is also known as anticipatory
controller. Anticipatory action may result in large instability in a system.

05) Which of the following controller has sluggish response?

proportional controller
integral controller
derivative controller
both 2 and 3
.

In which of the following controller band width is increased?

proportional plus integral controller
proportional plus derivative controller
 both 1 and 2
nether 1 nor 2

Proportional plus derivative controller characteristics: 1. For sinusoidal input, the phase of
controller output leads by tan-1 (ωTd). Hence it is similar to lead compensator. 2. In terms of
filtering property it acts as high pass filter. 3. It reduces rise time. 4. It increases band width. 5. It
increases stability of the system. 6. It reduces peak over shoot. 7. It has no effect on type and
order of the system.

A proportional plus derivative controller

has high sensitivity
increases the stability of the system
improves the steady state accuracy
both 1 and 2

Proportional plus derivative controller characteristics: 1. For sinusoidal input, the phase of
controller output leads by tan-1 (ωTd). Hence it is similar to lead compensator. 2. In terms of
filtering property it acts as high pass filter. 3. It reduces rise time. 4. It increases band width. 5. It
increases stability of the system. 6. It reduces peak over shoot. 7. It has no effect on type and
order of the system.
The Characteristics of P, I, and D controllers
A proportional controller (Kp) will have the effect of reducing the
rise time and will reduce, but never eliminate, the steady-state
error.
An integral control (Ki) will have the effect of eliminating the
steady-state error, but it may make the transient response worse.
A derivative control (Kd) will have the effect of increasing the
stability of the system, reducing the overshoot, and improving the
transient response.

Proportional Control
By only employing proportional control, a steady state error
occurs.
Proportional and Integral Control
The response becomes more oscillatory and needs longer to
settle, the error disappears.
Proportional, Integral and Derivative Control

All design specifications can be reached .

Proportional Control - Example
The proportional controller (Kp) reduces the rise time, increases
the overshoot, and reduces the steady-state error.

Proportional - Derivative - Example

The derivative controller (Kd) reduces both the overshoot and the
settling time

Proportional - Integral - Example

The integral controller (Ki) decreases the rise time, increases both
the overshoot and the settling time, and eliminates the steady-state
error
When does Proportional (P) Integral (I) Derivative (D)
Controllers are Used
When Proportional (P) Controller is Used:
Proportional (P) Controller is used during the following conditions:

 Load Changes are small

 Offset (error exist due to difference between steady state value and desired value) can be
tolerated
 The process reaction rate is such as to permit a narrow proportional band. Since this
reduces the amount of the offset

When Integral (I) Controller is Used:

Integral (I) controller is used during:

 When the offset must be eliminated

 Integral saturation due to sustained deviation is not objectionable

When Derivative (D) Controller is used:

 Large transfer or distance velocity lags are present

 It is necessary to minimize the amount of deviation caused by the system changes

When Proportional plus Integral (PI) Controller is used:

Proportional and Integral action is employed when

 System changes is small

 Offset must be eliminated
 No objection on the recovery duration

Read more: http://electricalquestionsguide.blogspot.com/2011/11/proportional-integral-derivative-

used.html#ixzz51wAPuhWM

PD action is employed when:

 When the system changes are small

 Improve the recovery time
 When system lags are high

When Proportional, Integral and Derivative (PID) Controller is used:

PID controller is used when system requires:

 System changes are small

 Offset must be eliminated
 Fast recovery time

Read more: http://electricalquestionsguide.blogspot.com/2011/11/proportional-integral-derivative-

used.html#ixzz51wBNyX6B

##

PI controllers are used in many industrial control applications. The main purpose of
using Proportional and Integral (PI) in process system is to improve the steady state
accuracy of the system without affecting the stability of the system.
Proportional action responds quickly to the error deviation and the integral action will act
slowly but offset or remove the steady state error, i.e, it removes the difference between
the set point value and actual process value in the plant over a period of time

The choice of having PI controller in the process system when:

 The control system should not be required fast response

 Systems consists of large disturbances and noise present during the operation of
the process system
 There is only capacitive or inductive energy storage element in the process
system
 There exists large transport delays in the process system

In most of the plant control applications PI or PID controllers are used. Derivative action
speeds up the system response by adding a proportional to the rate of change of
feedback error. This is consequently vulnerable to the noise in the error signals which
can limits the derivative gain. Lager value of the derivative gains in the controller will
leads to instability of the system and also requires higher values of the proportional and
integral gains compared to gains required in PI controllers

##
Why isn't there an integral differential controller when there are P, I, D,
PI, PD and PID controllers?

2 Answers

Ubeyde Mavus, I've been a controller engineer long enough to know few things.
Answered Jan 13, 2016
Do you mean ID controllers ?

-If so, from a mathematical point of view. An ID controller would add 2 zeros to
the system. And remember that practically, the more poles and zeros you have the more
complexity you have to deal with. Which you don't want because there are always
modelling errors.

With an ID controller in the feedforward path, you get 2 zeros whose locations are the
same. As long as you don't care about responses to the inputs with the frequencies that
are higher than the cutoff frequency, whatever you are trying to achieve you can do it by
adding just one zero. Why increase the complexity by adding two zeros at the same
location unnecessarily and have more problems than what you have started with ?

To be fair, an ID controller is possible. And for an extremely specific purpose, it

may be beneficial (No such case comes into mind but can't be sure). But if it is
necessary, then I can safely say that you are not dealing with a simple control system
anyway. It is complex.

-To give a practicle point of view, I have to use an example;

Now, I assume you kind of sense that a differentiator increases the speed of the system
response. And an integrator decreases the speed of the system response.

Think of this way; You are in a car going at 30 km/h. But you want it to go at 45 km/h.

Using an ID controller would be something like pressing the gas pedal and pulling your
leg from the gas pedal at the same time so that the car goes at 45 km/h.

Your leg will hurt due to the muscles that pull the leg in opposite directions trying to
pull the leg in their way at the same time. Why not just press on the gas pedal, just
enough so that it goes at 45 km/h. ?

You don't want your leg to hurt. You also dont want your controller to be more complex
than it should be.

Hope this answers your question.

Edit : silly mistakes.

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Abhishek Choudhary, M.tech, Instrumentation and Control Engineer

Updated Nov 24, 2016
In layman term, just remember what they individually do in a closed system with
feedback:

P-controller: takes the present care of error. (which is happening in system)

I-controller: takes the past care of error (which has already happened)

D-controller: Takes the future care of error. (which is about to happen)

Now, You have asked about ID controller, i.e without P controller. Its absolutely will
make no sense at all in system. Because both I-controller will integrate & D-controller
will make the differentiation of the error that has no significance in present state of
system(t=0).

One must have P controller which is nothing but a constant term to give meaning to
state equation.

Y(s)= P + I/(s)+Ds (in Laplace form)

With P controller, you can always perform any combination of other controllers upon
considering its stability and their time response/frequency response.
#

PID- Controller
In addition to the properties of the
PI controller, the
PID controller is complemented by the D
component.
This takes the rate of change of the
system deviation
into account.
If the system deviation is large, the
D component
ensures a momentary extremely high
change in the
manipulated variable.
While the influence of the D
component falls of
immediately, the influence of the I
component
increases slowly.
If the change in system deviation is
slight, the
behaviour of the D component is
negligible
This behavior has the advantage of
faster response and
quicker compensation of system
deviation in the event
of changes or disturbance variables.
The disadvantage is that the control
loop is much more
prone to oscillation and that setting is
therefore more
difficult.
This is one of the most powerful
but complex
controller mode operations
combines the
proportional, integral and
derivative modes. The
output for this mode can be
expressed as:

Time Analogy of PID Controller

P: Present time. Only considers
current position. Not
aware of current direction and of error
history
I: Past time. Only compiles an error
sum of the past.
Not aware of current distance of signal
from setpoint
and of current direction.
D: Future time. Only considers
current direction
(trend). Now aware of current distance
of signal from
setpoint and of error history.

Advantages of PID Controller

It reduces the overshoot which
often occurs
when integral control action is
added to
proportional control action.
It counteracts the lag
characteristics introduced
by the integral control action.
It approaches the tendencies
towards
oscillations.
It senses the rate of movement
away from the
set point and gives corrective
action earlier than
only with P or PI
It is more effective for control
process with
many energy storage element than
P+I control
action used alone.
It eliminates the offset i.e. steady
state error
introduced by proportional control
action.
It stabilizes the gain of the
controller
How does a PID controller work?
PID controller consists of three terms, namely proportional, integral and derivative
control. The combined operation of these three controllers gives control strategy for
process control. PID controller manipulates the process variables like pressure, speed,
temperature, flow, etc.
Ans 6 true
7 false

ans 1.13 (a)

Ans 1.14—a

1.15----a
1.16---a

1 What type of controller is displayed by the equation below?

(a) Feedforward (b) PID (c) Derivative (d) Proportional Integra

Which of the following can result in overshoot in a PID (none of 𝑃,,𝐷=0) control system?

(a) 𝑃 too small (b) 𝐼 too small (c) 𝐷 too small (d) Either/both
𝑃 and 𝐼 too big
 

 Which of the following can result in a steady-state error in a PID (none of 𝑃,,𝐷=0) control
system?

(a) 𝑃,𝐼 too small (b) 𝐷 too big (b) 𝐷 to small (c) 𝐼 too big

Which of the following type of control will always have some residual error?

(a) 𝑃𝐷 control (b) 𝑃𝐼 control (c) 𝐼 (d) 𝐷𝐼

Which of the following statements are TRUE for a PI controller ?

I When Kc is constant, and as I decreases, the response becomes faster, but more
oscillatory.
II The order of the system with PI feedback remains the same.
III As Kc increases, the response becomes faster andmore oscillatory to set point changes.
IV Offset is eliminated with PI control.

(a) IV, III, and II (b) I, III, and IV (c) I and IV (d) III and IV
Ans---(d)
Ans---a
---------B
---------d
A

B
A
A
B
A
A
A

Ans d
A

A
B

C
A
D
B
B

A
A

B
B
A
C

B
D
C
A
B
C