CONTOLLERS

Dr. Meera Balachandran

Department of Chemical Engineering and Materials Science

This presentation is for the use of students of Amrita Vishwa Vidyapeetham. The presentation or
recorded video of class should not be shared on social media or other platforms on internet
 Contents
• Proportional Control
• PI Control
• PD Control
• PID Control
• Comparison
 PROPORTIONAL CONTROL
Since signals are time varying,
e(t) = Ysp(t) - Ym (t)
n.b. Watch units!!
Chapter 8

• For proportional control: p(t) = p + K ce(t) p = p - p

where,
p(t) = controller output
p = bias value (adjustable)
Kc = controller gain (dimensionless, adjustable)
Chapter 8

Standards (ISO/ISA)

3 – 15 psi
4 - 20 ma
0 – 10 VDC
 · Proportional Band, PB
100%
PB 
Kc
· Reverse or Direct Acting Controller
· Kc can be made positive or negative
· Recall for proportional FB control:
p(t) = p + K c e(t)
Chapter 8

or 
p( t )  p  K c Ysp ( t )  Ym ( t ) 
· Direct-Acting (Kc < 0)
“output increases as input increases"
p(t) Ym(t)

· Reverse-Acting (Kc > 0)

“output increases as input decreases"
 · Transfer Function for Proportional Control:
Let p(t)  p(t) - p
Then controller input/output relation can written as
p(t)  K c e(t)
Take Laplace transform of each side,
Chapter 8

P(s)  K c E(s)
or
P(s)
 Kc
E(s)
 On-off Controllers
• Simple
• Cheap
Chapter 8

• Used In residential heating and domestic refrigerators

• Limited use in process control due to continuous
cycling of controlled variable  excessive wear
on control valve.

Examples
• Batch process control (PLC)
• Solenoid in home heating unit
• Sprinkler systems
• Cruise control?
 On-Off Controllers
Synonyms:
“two-position” or “bang-bang” controllers.
Chapter 8

e = error =
set point – measured variable

Controller output has two possible values.

 Practical case (dead band)
Chapter 8

δ = tolerance

system never reaches steady-state

Chapter 8
 INTEGRAL CONTROL ACTION
Synonyms: "reset", "floating control"
Chapter 8

P(s) 1
t
1
p( t )  p   e( t )dt  
I 0 E(s)  Is

I  reset time (or integral time) - adjustable

 Proportional-Integral (PI) Control
 t
 integral provides memory of e
1
p( t )  p  K c e( t )   e( t )dt  most popular controller
 I 0 
• Response to unit step change in e:
Chapter 8
 • Integral action eliminates steady-state error
(i.e., offset) Why??? e  0  p is changing with
time until e = 0, where p reaches steady state.
• Transfer function for PI control P(s) 
 K c 1 
1 

E(s)   Is 
Chapter 8
 · Some controllers are calibrated in 1/I
("repeats per minute") instead of I .
· For PI controllers,p is not adjustable.
Chapter 8

Derivative Control Action

· Ideal derivative action
de
p( t )  p   D
dt
· Used to improve dynamic response of the
controlled variable
· Derivative kick (use -dym/dt )
· Use alone?
Response of a PD Controller for
Linear Input in Error
Chapter 8
 Proportional-Integral-Derivative (PID) Control
Now we consider the combination of the proportional, integral,
and derivative control modes as a PID controller.
• Many variations of PID control are used in practice.
• Next, we consider the three most common forms.
Chapter 8

Parallel Form of PID Control

The parallel form of the PID control algorithm (without a
derivative filter) is given by
 1 t de t  
p t   p  K c  e t   0 e t * dt *  τ D dt  (8-13)
 τI
 The corresponding transfer function is:

P  s   1 
 K c 1   τDs (8-14)
E s  τI s 
Chapter 8

Step responses (a) of the ideal and (b) of the real PID controller
Chapter 8

P  s   τ I s  1  τ D s  1 
 Kc    (8-15)
E s τ
 I  Ds ατ s  1 
 Expanded Form of PID Control
In addition to the well-known series and parallel forms, the
expanded form of PID control in Eq. 8-16 is sometimes used:
t de t 
p t   p  K c e t   K I  e t * dt *  K D (8-16)
0 dt
Chapter 8

Features of PID Controllers

Elimination of Derivative and Proportional Kick
• One disadvantage of the previous PID controllers is that a
sudden change in set point (and hence the error, e) will cause the
derivative term momentarily to become very large and thus
provide a derivative kick to the final control element.
Chapter 8
Controller Response Overshoot Error
time
On-off Smallest Highest Large
Proportional Small Large Small
Integral Decreases Increases Zero
Derivative Increases Decreases Small change
Step responses of the PID controller family
 Automatic and Manual Control Modes
• Automatic Mode
Controller output, p(t), depends on e(t), controller
constants, and type of controller used.
( PI vs. PID etc.)
Chapter 8

· Manual Mode
Controller output, p(t), is adjusted manually.
· Manual Mode is very useful when unusual
conditions exist:
plant start-up
plant shut-down
emergencies
 Digital PID Controller
 
 t n 1 D 
pn  p  K c en   ek   en  en 1 
  t    
I k 1
 I D 
finite difference approximation
Chapter 8

where,
t = the sampling period (the time between
successive samples of the controlled variable)
p n = controller output at the nth sampling
instant, n=1,2,…
e n = error at the nth sampling unit
velocity form - see Equation (8-19)
(pn)- incremental change
Chapter 8
 Typical Response of Feedback Control Systems
Consider response of a controlled system after a
sustained disturbance occurs (e.g., step change in
disturbance variable); y > 0 is off-spec.
Chapter 8
 Comparison of Control Action
• With proportional action only - arrest the
rise of the controlled variable and
ultimately bring it to rest at a new steady-
state value.
• The difference between this new steady-
state value and the original value – offset
 Comparison of Control Action
• PI curve - the addition of integral action
eliminates the offset;
• the controlled variable ultimately returns to
the original value.
• more oscillatory behavior.
 Comparison of Control Action
• The addition of derivative action to the PI
action - rise of the controlled variable is
arrested more quickly
• controlled variable is returned rapidly to the
original value with little- or no oscillation.
 Comparison of Control Action
• If an offset of 22 percent is tolerable,
proportional action would likely be
selected.
• If no offset were tolerable, integral action
would be added.
• If excessive oscillations had to be
eliminated, derivative action might be
added.
Unit Response of P control
Unit Response of PI Controller
for Load Change
Unit Response of PI Controller
for Set Point Change
Effect of Controller Gain and
Measurement Lag
 y
Increasing D
Chapter 8

Time

PID control: effect of derivative time

 Increasing I
Increasing KC
y

0 0
Chapter 8

Time
Time
(b)
(a)

Proportional-integral control: (a) effect of integral time, (b)

effect of controller gain

integral action ~ Kc /  I
 Summary of the Characteristics of the Most
Commonly Used Controller Modes
1. Two Position:
Inexpensive.
Extremely simple.
Chapter 8

2. Proportional:
Simple.
Inherently stable when properly tuned.
Easy to tune.
Experiences offset at steady state. (OK for level
control)
3. Proportional plus integral:
No offset.
Better dynamic response than reset alone.
Possibilities exist for instability due to lag
introduced.
 4. Proportional plus derivative:
Stable.
Less offset than proportional alone (use of
higher gain possible).
Chapter 8

Reduces lags, i.e., more rapid response.

5. Proportional plus integral plus derivative:
Most complex
Rapid response
No offset.
Best control if properly tuned.
Examples of Typical Control Actions
Process Control Action

liquid level process Proportional Control

gas pressure process Proportional Control

vapour pressure process PI Control

temperature process PID Control

composition process PID Control