PID Controller

Lecture 5
Time Domain Analysis using PID Controller
References

Modern Control Engineering a Fourth Edition Katsuhiko

Ogata University of Minnesota Pearson Education
International - Ogata. Modern Control, 2010.

http://imtiazhussainkalwar.weebly.com/control-
systems.html
 Lecture Outline
 Introduction to PID

 Modes of Control
 Proportional Control
 Proportional + Integral Control
 Proportional + Derivative Control
 Proportional + Integral + Derivative Control

3
Introduction
• PID Stands for
• P  Proportional
• I  Integral
• D  Derivative

4
 Introduction
• The usefulness of PID controls lies in their general
applicability to most control systems.

• In particular, when the mathematical model of the plant

is not known and therefore analytical design methods
cannot be used, PID controls prove to be most useful.

• In the field of process control systems, it is well known

that the basic and modified PID control schemes have
proved their usefulness in providing satisfactory control,
although in many given situations they may not provide
optimal control.
5
 Introduction
• It is interesting to note that more than half of the
industrial controllers in use today are PID controllers or
modified PID controllers.

• Because most PID controllers are adjusted on-site, many

different types of tuning rules have been proposed in the
literature.

• Using these tuning rules, delicate and fine tuning of PID

controllers can be made on-site.

6
 Specifications
• For any control system, there exist specifications on steady state accuracy
and transient response.
• The above 2 requirement are contradicting and the designer must compromise.

• Parameter setting is the 1st step in the design

In most cases parameter setting failed to get the specifications, and a
controller must be added to the system.
 PID Controller

Actuating control
signal signal
Reference Y(𝑠)
+_ Controller Plant

𝐺𝑐 (𝑠)
𝐺𝑝 (𝑠)
Sensor

𝐻(𝑠)
 Control Action
The manner by which the actuating error signal is utilized by the controller to
produce required correction.
Control systems can be classified according to control action as:
• P controller: proportional controller
𝐺𝑐 𝑠 = 𝐾𝑝
Where: 𝐾𝑝 : proportional gain
• PI controller: proportional + integral controller
1
𝐺𝑐 𝑠 = 𝐾𝑝 1 +
𝑇𝐼 𝑠
𝐺𝑐 𝑠 = 𝐾𝑝 + 𝐾𝐼 /𝑆
Where: 𝑇𝐼 : Integral time , 𝐾𝐼 : Integral gain
Control Action
• PD controller: proportional + derivative controller
𝐺𝑐 𝑠 = 𝐾𝑝 1 + 𝑇𝑑 𝑠
𝐺𝑐 𝑠 = 𝐾𝑝 + 𝐾𝑑 𝑠
where: 𝑇𝑑 : derivative time , 𝐾𝑑 : derivative gain
• PID controller: proportional + integral + derivative controller
1 1
𝐺𝑐 𝑠 = 𝐾𝑝 1 + + 𝑇𝑑 𝑠 , 𝐺𝑐 𝑠 = 𝐾𝑝 + 𝐾𝐼 +𝐾𝑑 𝑠
𝑇𝐼 𝑠 𝑆
 Four Modes of Controllers

• Each mode of control has specific advantages and

limitations.

• Proportional (P)
• Proportional plus Integral (PI)
• Proportional plus Derivative (PD)
• Proportional plus Integral plus Derivative (PID)

11
 Proportional Control (P)
• In proportional mode, there is a continuous linear relation
between value of the controlled variable and position of the
final control element.
𝑟(𝑡) 𝑒(𝑡) 𝑐𝑝(𝑡) = 𝐾𝑝 𝑒(𝑡) 𝑐(𝑡)
𝐾𝑝 𝑃𝑙𝑎𝑛𝑡
𝑏(𝑡) - 𝑃𝑟𝑜𝑝𝑜𝑟𝑡𝑖𝑜𝑛𝑎𝑙
𝐶𝑜𝑛𝑡𝑟𝑜𝑙

𝐹𝑒𝑒𝑑𝑏𝑎𝑐𝑘

• Output of proportional controller is 𝑐𝑝(𝑡) = 𝐾𝑝 𝑒(𝑡)

• The transfer function can be written as 𝐶𝑝(𝑠)

= 𝐾𝑝
𝐸(𝑠)
12
Example
E(𝑠) D(𝑠)
M(𝑠)
R(𝑠) + 1 Y(𝑠)
+_ 𝐺𝑐 𝑠 +
𝑠 𝑠𝐽 + 𝐵

𝑌 𝑠
𝐸 𝑠 ቚ = − ቤ ∗𝐷 𝑠
𝑑𝑢𝑒 𝑡𝑜 𝑑𝑖𝑠𝑡𝑢𝑟𝑏𝑎𝑛𝑐𝑒 𝐷 𝑠 𝑅 𝑠 =0
𝑠∗𝑌 𝑠
𝑒𝑠.𝑠 = − lim ቤ ∗𝐷 𝑠
𝑠→0 𝐷 𝑠
𝑅 𝑠 =0
1. Let proportional controller 𝑮𝒄 𝒔 = 𝑲𝒑

𝑠∗𝑌 𝑠
𝑒𝑠.𝑠 ቚ = − lim ቤ ∗𝐷 𝑠
𝑑𝑢𝑒 𝑡𝑜 𝑑𝑖𝑠𝑡𝑢𝑟𝑏𝑎𝑛𝑐𝑒 𝑠→0 𝐷 𝑠
𝑅 𝑠 =0
1
𝑠∗ 1
𝑠 𝑠𝐽 + 𝐵
= − lim ∗
𝑠→0 𝐾𝑝 𝑠
1+
𝑠 𝑠𝐽 + 𝐵
1/𝐽 1
= − lim =−
𝑠→0 2 𝐵 𝐾𝑝 𝐾𝑝
𝑠 + 𝑠+
𝐽 𝐽
As 𝐾𝑝 increases 𝑒𝑠.𝑠 decreses
 𝐾𝑝 𝐵
𝜔𝑛 = , 2𝜁𝜔𝑛 =
𝐽 𝐽
1𝐵 𝐽 𝐵 1
𝜁= =
2 𝐽 𝐾𝑝 2 𝐽𝐾𝑝

Comment:
The proportional controller reduces the steady state error as 𝑲𝒑 increases
on the other hand increasing 𝑲𝒑 make the transient more oscillatory as 𝜻 is
decreased.
 Proportional Plus Integral Controllers (PI)
• Integral control describes a controller in which the output
rate of change is dependent on the magnitude of the
input.

• Specifically, a smaller amplitude input causes a slower rate

of change of the output.

17
 Proportional Plus Integral Controllers (PI)
• The major advantage of integral controllers is that they have
the unique ability to return the controlled variable back to the
exact set point following a disturbance.

• Disadvantages of the integral control mode are that it

responds relatively slowly to an error signal and that it can
initially allow a large deviation at the instant the error is
produced.

• This can lead to system instability and cyclic operation. For this
reason, the integral control mode is not normally used alone,
but is combined with another control mode.
18
Proportional Plus Integral Control (PI)

𝐾𝑖 න 𝑒(𝑡) 𝑑𝑡
𝐾𝑖 ∫

𝑟(𝑡) 𝑒(𝑡) 𝐾𝑝 𝑒(𝑡)+

+ 𝑐𝑝𝑖 𝑡 𝑐(𝑡)
𝐾𝑝 𝑃𝑙𝑎𝑛𝑡
𝑏(𝑡) -

𝐹𝑒𝑒𝑑𝑏𝑎𝑐𝑘

𝑐𝑝𝑖 𝑡 = 𝐾𝑝 𝑒 𝑡 + 𝐾𝑖 න 𝑒 𝑡 𝑑𝑡
19
 Proportional Plus Integral Control (PI)

𝑐𝑝𝑖 𝑡 = 𝐾𝑝 𝑒 𝑡 + 𝐾𝑖 න 𝑒 𝑡 𝑑𝑡

• The transfer function can be written as

𝐶𝑝𝑖(𝑠) 1
= 𝐾𝑝 + 𝐾𝑖
𝐸(𝑠) 𝑠

20
Example
2. Let proportional + integral controller PI

1
𝐺𝑐 𝑠 = 𝐾𝑝 1 +
𝑇𝐼 𝑠
𝑠∗𝑌 𝑠
𝑒𝑠.𝑠 ቚ = − lim ቤ ∗𝐷 𝑠
𝑑𝑢𝑒 𝑡𝑜 𝑑𝑖𝑠𝑡𝑢𝑟𝑏𝑎𝑛𝑐𝑒 𝑠→0 𝐷 𝑠
𝑅 𝑠 =0
1
𝑠∗ 1
𝑠 𝑠𝐽 + 𝐵
= − lim ∗
𝑠→0 1 𝑠
𝐾𝑝 1 +
𝑇𝐼 𝑠
1+
𝑠 𝑠𝐽 + 𝐵
Example
𝑠
= − lim = 𝑧𝑒𝑟𝑜 !
𝑠→0 𝐾𝑝
𝐽𝑠 3 + 𝐵𝑠 2 + 𝐾𝑝 𝑠 +
𝑇𝐼
But has bad effect on stability
Example
integral controller I
1
𝐺𝑐 𝑠 =
𝑇𝐼 𝑠
𝑠∗𝑌 𝑠
𝑒𝑠.𝑠 ቚ = − lim ቤ ∗𝐷 𝑠
𝑑𝑢𝑒 𝑡𝑜 𝑑𝑖𝑠𝑡𝑢𝑟𝑏𝑎𝑛𝑐𝑒 𝑠→0 𝐷 𝑠
𝑅 𝑠 =0
1
𝑠∗ 1
𝑠 𝑠𝐽 + 𝐵
= − lim ∗
𝑠→0 1 𝑠
𝑇𝐼 𝑠
1+
𝑠 𝑠𝐽 + 𝐵
Example
𝑠
= − lim = 𝑧𝑒𝑟𝑜 !
𝑠→0 1
𝐽𝑠 3
+ 𝐵𝑠 2+
𝑇𝐼
Unstable so I can’t use it alone I’ve to use either a P or PD

Comment:
The integral control action eliminates or reduces the steady state
error in response to various input signal. It increases the order of the
system by one and it had bad effect on system stability. Proportional
is used with integral to stabilize the system.
Proportional Plus derivative Control (PD)
𝑑𝑒(𝑡)
𝑑 𝐾𝑑
𝑑𝑡
𝐾𝑑
𝑑𝑡
𝑟(𝑡) 𝑒(𝑡) 𝐾𝑝 𝑒(𝑡)+
+ 𝑐𝑝𝑑 𝑡 𝑐(𝑡)
𝐾𝑝 𝑃𝑙𝑎𝑛𝑡
𝑏(𝑡) -

𝐹𝑒𝑒𝑑𝑏𝑎𝑐𝑘

𝑑𝑒(𝑡)
𝑐𝑝𝑑 𝑡 = 𝐾𝑝 𝑒 𝑡 + 𝐾𝑑
𝑑𝑡
25
 Proportional Plus derivative Control (PD)
𝑑𝑒(𝑡)
𝑐𝑝𝑑 𝑡 = 𝐾𝑝 𝑒 𝑡 + 𝐾𝑑
𝑑𝑡

• The transfer function can be written as

𝐶𝑝𝑑(𝑠)
= 𝐾𝑝 + 𝐾𝑑 𝑠
𝐸(𝑠)

26
 Proportional Plus derivative Control (PD)
• The higher the error signal rate of change, the sooner the final
control element is positioned to the desired value.

• The added derivative action reduces initial overshoot of the

measured variable, and therefore aids in stabilizing the process
sooner.

• This control mode is called proportional plus derivative (PD) control

because the derivative section responds to the rate of change of the
error signal

27
Example
3. Let proportional + Derivative controller PD
𝑑
𝑒(𝑡) 𝑇𝑑 𝑒(𝑡)
𝑑𝑡
D

Derivative control:
It responds to rate of change of the error not the error itself. It can
produce significant correction to the error before the error becomes
large (anticipating feature) .
𝑑𝑒 𝑡
In the steady state, error is constant = zero , and it has no direct
𝑑𝑡
effect on the steady state .
 Example
𝑟(𝑡)
+_
1 y(𝑡)
𝐺𝑐 𝑠
𝐽𝑠 2

Take pure inertia load B=0, and put D(s)=0

P controller
𝐺𝑐 𝑠 = 𝐾𝑝
𝐾𝑝 𝐾𝑝
𝑌 𝑠 𝐽𝑠 2 𝐽
= =
𝑅 𝑠 𝐾𝑝 2
𝐾𝑝
1+ 2 𝑠 +
𝐽𝑠 𝐽
2 𝐾𝑝
Compare 𝑠 + with 𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2 → 𝜁 =
𝐽
0 undamped
Example
PD controller
𝐺𝑐 𝑠 = 𝐾𝑝 1 + 𝑇𝑑 𝑠
𝐾𝑝 1 + 𝑇𝑑 𝑠 𝐾𝑝 1 + 𝑇𝑑 𝑠
𝑌 𝑠 𝐽𝑠 2 𝐽
= =
𝑅 𝑠 𝐾𝑝 1 + 𝑇𝑑 𝑠 2
𝐾𝑝𝑇𝑑 𝐾𝑝
1+ 𝑠 + 𝑠+
𝐽𝑠 2 𝐽 𝐽
Damped system 0 < 𝜁 < 1
Comment:
The derivative control add damping to the system and
improve the transient response. It has no direct effect on the steady state but
it add damping and permit higher value of 𝑲𝒑 which improve steady
state indirect (limited improvement)
 PID controller
1 𝐾𝐼
𝐺𝑐 𝑠 = 𝐾𝑝 1+ + 𝑇𝑑 𝑠 = 𝐾𝑝 + 𝐾𝑑 𝑠 +
𝑇𝐼 𝑠 𝑠

Where the derivative part to improve transient response while integral

part to improve the steady state response.
Proportional Plus Integral Plus Derivative Control (PID)
𝑑𝑒(𝑡)
𝑑 𝐾𝑑
𝑑𝑡
𝐾𝑑
𝑑𝑡
𝑟(𝑡) 𝑒(𝑡) 𝐾𝑝 𝑒(𝑡) +
+ 𝑐𝑝𝑖𝑑 𝑡 𝑐(𝑡)
𝐾𝑝 𝑃𝑙𝑎𝑛𝑡
𝑏(𝑡) - +
𝐾𝑖 න 𝑒(𝑡) 𝑑𝑡
𝐾𝑖 ∫

𝐹𝑒𝑒𝑑𝑏𝑎𝑐𝑘

𝑑𝑒(𝑡)
𝑐𝑝𝑖𝑑 𝑡 = 𝐾𝑝 𝑒 𝑡 + 𝐾𝑖 න 𝑒(𝑡) 𝑑𝑡 + 𝐾𝑑
𝑑𝑡 32
Proportional Plus Integral Plus Derivative Control (PID)

𝑑𝑒(𝑡)
𝑐𝑝𝑖𝑑 𝑡 = 𝐾𝑝 𝑒 𝑡 + 𝐾𝑖 න 𝑒(𝑡) 𝑑𝑡 + 𝐾𝑑
𝑑𝑡

𝐶𝑝𝑖𝑑(𝑠) 1
= 𝐾𝑝 + 𝐾𝑖 +𝐾𝑑 𝑠
𝐸(𝑠) 𝑠

33
 Requirment
• If requirement on steady state alone → PI controller is used
1
𝐺𝑐 𝑠 = 𝐾𝑝 1 +
𝑇𝐼 𝑠
• Like Steady state error due to either reference or disturbance input is eliminated,
𝐾𝑝 , 𝐾𝑣 , 𝐾𝑎 , accuracy, performance to the steady state is very important……….

• If requirement on transient alone → PD controller is used

𝐺𝑐 𝑠 = 𝐾𝑝 1 + 𝑇𝑑 𝑠
• Like 𝑀𝑝 , 𝑡𝑟 , 𝑡𝑝 , 𝑡𝑠 , 𝜁, 𝜔, 𝜔𝑛, dominant poles
• If requirement on steady state and transient → PID controller is used
1
𝐺𝑐 𝑠 = 𝐾𝑝 1 + + 𝑇𝑑 𝑠
𝑇𝐼 𝑠
Electronic PID Controller

𝐸𝑜 (𝑠) 𝑅4 (𝑅1 𝐶1 𝑠 + 1)(𝑅2 𝐶2 𝑠 + 1)

=
𝐸𝑖 (𝑠) 𝑅3 𝑅2 𝐶2 𝑠

𝐸𝑜 (𝑠) 𝑅4 𝑅2 𝑅1 𝐶1 + 𝑅2 𝐶2 1
= + + 𝑅1 𝐶1 𝑠
𝐸𝑖 (𝑠) 𝑅3 𝑅1 𝑅2 𝐶2 𝑅2 𝐶2 𝑠
 Electronic PID Controller
𝐸𝑜 (𝑠) 𝑅4 𝑅2 𝑅1 𝐶1 + 𝑅2 𝐶2 1
= + + 𝑅1 𝐶1 𝑠
𝐸𝑖 (𝑠) 𝑅3 𝑅1 𝑅2 𝐶2 𝑅2 𝐶2 𝑠

𝐸𝑜 (𝑠) 𝑅4 𝑅1 𝐶1 + 𝑅2 𝐶2 1 𝑅1 𝐶1 𝑅2 𝐶2
= 1+ + 𝑠
𝐸𝑖 (𝑠) 𝑅3 𝑅1 𝐶2 𝑅1 𝐶1 + 𝑅2 𝐶2 𝑠 𝑅1 𝐶1 +𝑅2 𝐶2

𝑅4 𝑅1 𝐶1 + 𝑅2 𝐶2 𝑅1 𝐶1 𝑅2 𝐶2
𝐾𝑝 = 𝑇𝑖 = 𝑅1 𝐶1 + 𝑅2 𝐶2 𝑇𝑑 =
𝑅3 𝑅1 𝐶2 𝑅1 𝐶1 +𝑅2 𝐶2

• In terms of Kp, Ki, Kd we have

𝑅4 𝑅1 𝐶1 + 𝑅2 𝐶2 𝑅4 𝑅4 𝑅2 𝐶1
𝐾𝑝 = 𝐾𝑖 = 𝐾𝑑 =
𝑅3 𝑅1 𝐶2 𝑅3 𝑅1 𝐶2 𝑅3