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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) oset
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
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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.
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Controller Design
Control Systems
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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.
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.
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.
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.
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.
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
##
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
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 ?
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.
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I-controller: takes the past care of error (which has already happened)
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.
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:
1.15----a
1.16---a
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) 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