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Tuning Workshop
PID Controllers

What is Controller?

Outlet temperature

Feed flow

Fuel flow

TT
Furnace
TC
Set Value

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CP0420

PID Controller Key Concepts

The PID control algorithm does not "know" the

correct output to bring the process to the set
point.

It merely continues to move the output in the

direction which should move the process
toward the set point.

The algorithm must have feedback (process

measurement) to perform

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Open Loop / Controller in Manual

e.g. Furnace, TC in MANUAL

TC

Process

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Closed Loop/ Auto Mode

e.g. Furnace, TC in AUTO

TC

Process

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PID Controller Tuning Parameters

Proportional Band (Controller Gain)

Integral Action ( Reset)

Derivative Action

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Proportional action
Controller output varies proportionally
to input :
out = G c * in
G c = Controller Gain
in = deviation or (PV-SV)

Proportional action therefore provides a signal

proportional to the size of the deviation
Also:

100%
G c

= Proportional Band (PB)

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CP0520

Proportional-only control
Controller output
( MV )
100%

Output span: 100%

50

0
0

20

50

80

Controller input
( PV )
100%

Input span: 60%

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CP0585

Proportional-only control
Low Gain
Set value
Offset

Deviation

Process variable
time

High gain
Set value
Offset
Deviation

- smaller offset
- less damping of measured value
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time
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CP0560

Proportional-only control - Offset

Set value change by operator
Disturbance in feed flow
te m p e ra tu re

Set value
Offset
Desired value

Offset
Process variable trend
(if no feedback control)
Process variable (actual measured value)

time

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CP0550

Proportional action

Proportional action gives an output signal proportional to the size

of the error.

Proportional action can be tuned via the Controller Gain (Gc)

Proportional action will leave an offset between SP and PV.

OP = K *
With:

= (PVP SPP)

PVP = PV / Range * 100 % = PV / (PVEUHI PVEULO) * 100 %

SPP = SP / Range * 100 % = SP / (PVEUHI PVEULO) * 100 %

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Integral Action Definition

out = 1 0 (t) dt

Integral action therefore provides a signal which depends the

length of time a deviation has existed.
Integral action time

i is defined as the time taken for the

controller output to change by the same amount from integral

action as that from proportional action.

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CP0570

Integral action
Deviation

Time

Controller Output
Integral Action Only
Time

Controller Output

Proportional + Integral Ac
Proportional Action Onl

Change due to the Proportional Act

Time

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Integral action at different Values

Controller Output

Proportional + Integral Acti

Proportional Action Only
Change due to the Proportional Action

Time

Proportional + Integral Act

Controller Output
Proportional Action Only
Change due to the Proportional Action

Time

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Proportional & Integral

Initial kick in output from proportional
action action.
After that integral action increases output
Process value reaches set point no off set due to integration

80

100.00

70

90.00
80.00

60

70.00

50

60.00

40

50.00

Integral action eliminates the off set

30

Initial kick from proportional action

20

40.00

Output (%)

Set point / Process Value

(EU)

Proportional & Integral controller

SP
PV
OP

30.00
20.00

10

10.00

0.00
0

8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40
Time (minutes)

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Proportional & Integral

action

Proportional action gives an output signal

proportional to the size of the error

Integral action gives a signal which magnitude

depends on the time the error has been there. The
longer the error is present the higher the
contribution of the Integral action to the total output.

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Proportional + Integral control

Long Integral action time

Set value
Deviation
Process Variable
time

Set value

Short Integral action time

Deviation
Process Variable
time

Integral Action removes offset

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CP0590

Derivative Action
Deviation

time
Controller output

Derivative action only

time
Controller output

Proportional + Derivative action

Proportional action only
change due to the Proportional action

time
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CP0610

Derivative Action Definition

out =

d
dt

Derivative action therefore provides a signal which depends on

the rate-of-change of deviation
Derivative action therefore provides anticipatory action

Derivative action time d is the time taken for the change in

controller output due to proportional action to equal the same
change as that from derivative action

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CP0600

Proportional & Integral & Derivative

Disturbance at t = 10 (min).
Initial kick in output from proportional
action
and derivative action; integral action increases OP further; when
PV starts to move derivative action brings OP quickly back to
PI controller - with derivative action
steady state value.
80

100.00

70

90.00
80.00

60

70.00

50

60.00

40

50.00

30

40.00

O u tp u t (% )

S e t p o i n t / P r o c e ss
V a l u e (E U )

(Kp = 1; Tp = 6; Td = 2; Kc = 2.3; Ti = 6; Tder = 0.6)

SP
PV
OP

30.00

20

20.00

10

10.00

Disturbance of - 5

0.00
0

10 12 14

16 18 20 22 24

26 28 30 32 34 36

38 40

Time (minute s)

80

100.00

70

90.00
80.00

60

70.00

50

60.00

40

50.00

30

40.00

O u tp u t (% )

S e t p o i n t / P r o c e ss
V a l u e (E U )

PI controller - derivative action removed

(Kp = 1; Tp = 6; Td = 2; Kc = 2.3; Ti = 6; Tder = 0)

SP
PV
OP

30.00

20

20.00

10

10.00

Disturbance of - 5

0.00
0

10

12

14

16

18

20

22

24

Time (minutes)

26

28

30

32

34

36

38

40

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Proportional & Integral & Derivative

action

Proportional action gives an output signal

proportional to the size of the error

Integral action gives a signal which magnitude

depends on the time the error has been there

Derivative action gives a signal proportional to

the change in the PV. It gives sort of
anticipatory control. Sensitive to measurement
noise !

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Proportional + Integral + Derivative control

Set value

P + I action
(without Derivative action)

Deviation
Process Variable
time

P + I + D action
Set value

Deviation
Process Variable
time
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CP0620

PID controller actions - summary

Proportional action

out = Gc * in = Gc *

Integral (reset) action

t

1(t).dt

out =

Derivative action

out =

d
dt

P + I + D controller
t

(t).dt + d

d
0
dt
i
for a P-only controller Out = Gc * + 50%

Out = Gc * +

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CP0630

Controller Responses
Proportional control
Offset

Offset

Low Gain

vs.

High Gain

Proportional + Integral control

Long Integral action time

without Derivative action

vs.

Short Integral action time

with Derivative action

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CP800

Controller Selection

P-Only Controllers:
Used

when offset is uncritical (some level

applications).

PI controllers are used in 95% of the

applications:
When

offset is undesirable

On applications having long dead time and

time constant use PID except if the
measurement is noisy.
Examples
Large

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Volume Pressure

25

Controller Algorithm Selection

-

Type
Td > 5*Tp

Td < 0.2*Tp

0.2*Tp < Td < Tp Tp < Td < 5*Tp

Dominant first order

dead time
-

PI

Dominant

PID

PIT

I-only

Td = process dead time (minutes)

Tp = process time constant (minutes)

Use PI as standard

Use Derivative action (together with P& I action) only as exception; most
effective when 0.5*Tp < Td < 5*Tp

Proportional Integral Time-delay (PIT) controller when dead time exceeds time
constant. Special algorithm and relatively easy to implement in DCS.

x
x

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Desired Response

Desired behavior or response must be decided upon before loop can be

tuned.

Response below could be in general considered as good (fast and well

damped).
One Overshoot
Set Value
One Undershoot
Process Variable
Time

Response to a Step Change

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Valve Failure Action

Spring to Close (Air Failure Close)

(Air to Open)

Spring to Open (Air Failure Open)

(Air to Close)

Decision Fail Action is taken in

Process/Safeguarding design
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Reverse and Direct Controller Polarity

If the
measurement
increases

The controller
output has to
be reduced to
counter act

Reverse

PV

OP

Reverse

If the
measurement
increases

The controller
output has to
be increased
to counteract

Direct

PV

OP

Direct

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Controller Action
DirectActing
Controller

C-1

LC

Output

(Air Failure Close)

Pump
increase of PV leads to increase of
OP of controller with constant SP
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Controller action
(Air Failure Close)
C-2

Output

LC

Reverse-Acting Controller

Pump
increase of PV leads to decrease
of OP of controller with constant
SP

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Valve Linearity

Valves are usually non-linear.That is, the flow through the valve is not the
same as the valve position. Several types of valves exist:
Linear
Same gain regardless of valve position
Equal Percentage (most commonly used)
Low gain when valve is nearly closed
High gain when valve is nearly open
Quick Opening
High gain when valve is nearly closed
Low gain when valve is nearly open

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Shell Global Solutions

End of The PID Controllers