12/26/22, 12:32 PM Introduction to PID Controller With Detailed P,PI,PD & PD Control - VivekBose.

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Introduction to PID Controller With

Detailed P,PI,PD & PD Control

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PID is acronym for Proportional Plus Integral Plus Derivative Controller.It is a

control loop feedback mechanism (controller) widely used in industrial control
systems due to their robust performance in a wide range of operating
conditions & simplicity.In This PID Controller Introduction, I have Tried To
Illustrate The PID Controller With SIMPLE Explanations & BASIC MATLAB
CODE To Give You Idea About P,PI,PD & PID Controllers

For PID control, the actuating signal u(t),consists of proportional error signal
added with derivative and integral of error signal e(t)

The Plant P is controlled by input u(t) which is represented as

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Where Kp is the Proportional Gain,Kd is the Derivative Gain & Ki is the Integral
Gain of the controller

Frequency Domain Representation of PID Controller

In Frequency Domain (after taking Laplace Transform of both sides),the control
input can be represented as

Thus ,PID controller adds pole at the origin and two zeroes to the Open loop
transfer function

The Closed loop Transfer Function of the system can be written as

Physical Realisation of PID Controller

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Why do You Need a PID Controller

The Characteristics of P, I, and D controllers are briefly discussed With MATLAB
Code to give an insight about individual P,PI,PD,PID Controllers

1. A proportional controller (Kp) will have the effect of reducing the rise time
and will reduce, but never eliminate, the steady-state error.
2. An integral control (Ki) will have the effect of eliminating the steady-state
error, but it may make the transient response worse.
3. A derivative control (Kd) will have the effect of increasing the stability of the
system, reducing the overshoot, and improving the transient response but
little effect on rise time
4. A PD Controller could add damping to a system, but the steady-state
response is not affected.(steady state error is not eliminated)
5. A PI Controller could improve relative stability and eliminate steady state
error at the same time, but the settling time is increased(System response
sluggish)
But a PID controller removes steady-state error and decreases system settling
times while maintaining a reasonable transient response

E l ll P P PD & P D
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Example::Illustrating P, PI, PD & PID controller in

MATLAB
For the Given Spring-Mass-Damper System

Using D’Alembert’s Principle

Taking Laplace Transform with Zero initial conditions to get:

The transfer function between Output X(s) & input F(s) is

Assuming m=1kg,b=10 Ns/m & k=20 N/m [For Simpicity]

Which is the open loop transfer function

On Matlab Command window, typing following commands, yield Step

Response of the system

G=tf(1,[1 10 20]);

Step(G);

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The DC gain of the plant transfer function is 1/20, so 0.05 is the final value of
the output to a unit step input. This corresponds to the steady-state error
of 0.95, quite large indeed.

Furthermore, the rise time is about one second, and the settling time is about
1.5 seconds.

#Proportional Control
In Proportional control, the actuating signal for the control action in a control
system is proportional to the error signal. The error signal being the difference
between the reference input signal and the feedback signal obtained from the
output

The Transfer function of the controller is:

U(s) = Kp E(s) or, C(s) =Kp

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The closed-loop transfer function of the Spring-Mass system with a

proportional controller is:

For Kp=500

Executing following Commands in MATLAB will give output on command

window

Kp = 500;

C = pid(Kp)

P=tf(1,[1 10 20])

T = feedback(C*P,1)

t = 0:0.01:2;

step (T,t);

The Step response of the system in MATLAB indicates that the proportional
controller (Kp) reduces the rise time, increases the overshoot, reduces the

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steady state error but never eliminates it completely

This is a type-zero system and hence will have a finite steady-state error for a
step input.

Large values of K lead to small steady-state error; however, they also lead to a
faster, less damped responses.

If we want a small overshoot and a small steady-state error, a proportional

gain alone is not enough.

#PD Controller
For Derivative control action the actuating signal consists of proportional error
signal added with derivative of the error signal

A proportional plus derivative (PD) controller has the transfer function:

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Proportional-derivative (PD) control considers both the magnitude of the

system error and the derivative of this error. Derivative control has the effect of
adding damping to a system, and, thus, has a stabilizing influence on the
system response.

The closed-loop transfer function of

the above system with a PD controller is:

MATLAB Code for PD Controller(Without Tuning Sample

Values)
Entering Following commands in MATLAB yields

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Kp = 500;

Kd=10;

C = pid(Kp,0,Kd);

P=tf(1,[1 10 20]);

T = feedback(C*P,1)

step(T);

Continuous-time PD controller in parallel form:

Kp + Kd * s

With Kp = 500, Kd = 10

Transfer function:

10 s + 500

—————-

s^2 + 20 s + 520

Without integral control, this is a type-zero system, and hence will have a finite
steady state error to a unit step input

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The derivative controller reduced both the overshoot and the Settling time, and
had a small effect on the rise time and the steady-state error.

The PD controller has decreased the system settling time considerably;

however, to control the steady-state error, the derivative gain Kd must be high.
This decreases the response times of the system and can make it susceptible to
noise.

Effects of PD Controller :-

Improves damping and maximum overshoot.

Reduces rise time & settling time.
Increases Bandwidth
Improves Gain Margin and Phase Margin
May attenuate high frequency noise

#PI Controller
For Integral control action, the actuating signal consists of proportional-error
signal added with integral of the error signal.

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Proportional-integral (PI) control considers both the magnitude of the system

error signal and the integral of this error

MATLAB Code for PI Controller(Without Tuning Sample

Values)
Executing Following commands in MATLAB

Kp = 30;

Ki=70;

C = pid(Kp,Ki)

P=tf(1,[1 10 20]);

T = feedback(C*P,1)

step(T);

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Continuous-time PI controller in parallel form:

Kp + Ki * —

With Kp = 30, Ki = 70

Transfer function:

30 s + 70

————————

s^3 + 10 s^2 + 50 s + 70

Using integral control makes the system type-one, so the steady-state error
due to a step input is zero.

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The response shows that the Integral control has removed the steady-state
error and improved the transient response, but it has also increased the system
settling time.

Increasing Ki increases overshoot & settling time making system response

sluggish

To reduce both settling time and overshoot, a PI controller by itself is not

enough

Effects of PI Controller :-

Improves damping and reduces maximum overshoot.

Increases Rise Time.
Decreases Bandwidth
Improves Gain Margin, Phase margin & Peak Resonance (Mr).
Filter out high frequency noise.

PID Controller
For PID control, the actuating signal u(t),consists of proportional error signal
added with derivative and integral of error signal e(t)

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12/26/22, 12:32 PM Introduction to PID Controller With Detailed P,PI,PD & PD Control - VivekBose.com

Proportional-integral-derivative control (PID) combines the stabilizing influence

of the derivative term and the reduction in steady-state error from the integral
term.

The Transfer function of PID Controller

MATLAB Code for PID Controller(Without Tuning Sample

Values)
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MATLAB Code to Be Executed for Simulating PID Controller

Kp=500,Kd=50,Ki=400;

G=tf(1,[1 10 20]);

C=pid(Kp,Ki,Kd);

T=feedback(C*G,1);

step(T,0:0.01:2);

MATLAB OUTPUT FOR Continuous-time PID controller in parallel form:

Kp + Ki * — + Kd * s

With Kp = 500, Ki = 400, Kd = 50

Transfer function:

50 s^2 + 500 s + 400

————————–

s^3 + 60 s^2 + 520 s + 400

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Thus, A PID controller has removed steady-state error and decreased system
settling times while maintaining a reasonable transient response

While designing a PID controller, the general rule is to add proportional control
to get the desired rise time, add derivative control to get the desired overshoot,
and then add integral control (if needed) to eliminate the steady-state error.

Effects of PID Controller:-

Its purpose is to improve stability as well as to decrease Steady State Error.

It adds a pole at origin which increases type of system which result into
reduction of steady state error.
It adds 2 zeroes in LHP, one finite zero to avoid effect on stability & other
zero to improve stability of system

Applications of PID Controller

Proportional-Integral-Derivative (PID) control is the most common control
algorithm used in industry and has been universally accepted in industrial
control. This is due to the fact that all design specifications of the system
can be met through optimal tuning of constants Kp, Ki & Kd for maximum
performance
In the early history of automatic process control the PID controller was
implemented as a mechanical device in steering system of Ships

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PID temperature controllers are applied in industrial ovens, plastics injection

machinery, hot stamping machines and packing industry.
Electronic analog PID control loops are often found within more complex
electronic systems, for example, the head positioning of a disk drive, the
power conditioning of a power supply, or even the movement-detection
circuit of a modern seismometer.
Most modern PID controllers in industry are implemented in programmable
logic controllers (PLCs) or as a panel-mounted digital controller.

Limitations of PID Controllers

The performance of PID controllers in non-linear systems (such as HVAC
systems) is variable because PID controllers are linear
The derivative term Kd is susceptible to Noise disturbance. A small amount
of measurement or process noise can cause large amounts of change in the
output. It is often helpful to filter the measurements with a low-pass filter in
order to remove higher-frequency noise components
The PID Parameters need to be tuned in order to obtain required optimal
response
Doesn’t handle non‐symmetric systems very well (e.g. A system which heats
much faster than it cools)

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