PROPORTIONAL – INTEGRAL-

DERIVATIVE (PID) CONTROLLER

By
Mohd Hafiz Bin A. Jalil @ Zainuddin
 Contents
1. Introduction
2. Definition of P, I and D in controller design
3. P, PI, and PID ideal controller structure
4. Determination of P, PI, PID parameter
using open-loop method.
4.1 Ziegler Nichols Tuning rules
4.2 Cohen Coon Tuning Formulae
4.3 Determination of process Gain, K,
Time constant, and Time Delay using
Process Reaction Curve
4.4 Example PID controller (ZN)
5. Suggestion
 1. Introduction

• The objective of control system design and implementation is to regulate

the value of certain variables at the desired value intended to meet
certain specification such as environment emission restrictions, maintain
product quality and comply with certain safety guideline
• Two general approaches in designing controller namely:
a) Traditional approach
 controller setting or tuning is carried out after the controller is
being installed at the plant
b) Model based approach
 Consist several step as shown in Figure 1
 1. Introduction cont..

Start

Develop mathematical
equation for the system What your have learn this semester?
(Modeling)  Mathematical model based on first
-First principal
-Empirical principle approach.
-Semi-Empirical Notes:
Empirical approach-ARX, ARMAX,
NARX, NARMAX, FOPDT, SOPDT
Controller design and many more
-Lead-lag What your will learn this semester?
-P, PI, PID
-Predictive  Lead-lag compensator
-Adaptive and Many  P, PI and PID
More

Simulation and tuning

N
Transient
Accepted

Y
Real time
implementation

Figure 1: Model based control design

 1. Introduction cont..

• P, PI, and PID is the most well known feedback controller.

• PID controller, PID is the most controller used in industry.
– The survey of more than 11000 controller in industries, indicated that more than 97% of
industry used PID controller feedback algorithm.
• Why choose PID controller.
- The popularity of PID controller among industry sector is due to its simplicity that caused
this controller easily to understand by control engineer and able to provide satisfactory
performance in wide range of practical situation.
- Moreover, the PID controller combined all three controller action which is proportional
action, P (present element), integral action, I (past element) and derivative action, D
(future element). These combination caused PID has capability in providing zero steady
state error due to integral action and able to predict the future due to derivative action.
 2.Function P, I and D in PID controller

• Proportional term (present element)

– To speed up the closed loop response. The proportional term minimizes but does not
eliminate the steady state error or offset.

• Integral term (past element)

– To eliminates the offset or steady state error. This term also speed up the system
response but at cost of sustained oscillations.

• Derivative term (Future element)

– The introduction of derivative action means that changes in the desired value may be
anticipated and thus an appropriate correction may be added prior to the actual change.
3. Ideal Structure of P, PI, and PID controller
 P controller structure
P Controller
Controller Saturation
Plant
r (s )  E(s) U(s) c (s )
Kp G (s )
_

Where:

Proportional gain, Kp

U (s)
G p (s)   Kp
E (s)

Figure 2: P controller Block Diagram

 PI controller structure
PI Controller

Kp Controller Saturation
Plant
r (s ) 

E(s)  U(s) c (s )
Ki G (s )
_

Where:

Proportional gain, Kp

U (s) Kp
G pi ( s )   Kp 
E (s) Ti s

Integral gain, Ki

Figure 3: Parallel PI controller Block Diagram

 PID controller structure
PID Controller

Kp Controller Saturation
Plant
r (s ) 
 U(s)
E(s)  c (s )
Ki G (s )
_ 
Kd

Where:

Proportional gain, Kp
Derivative gain, Kd
U (s) Kp
G pid ( s )   Kp   K pTd s
E (s) Ti s

Integral gain, Ki

Figure 4: Parallel PID Block Diagram

4. Determination of P, PI, PID parameter
using open-loop Method.
1. 4. Determination of P, PI, PID parameter
using open-loop Method Cont.

• The performance of P, PI and PID controller are highly depending on the

selection of controller parameter (the value of P, PI and PID).

• There are two method in tuning P, PI, and PID parameter either using open
loop method or closed loop method.

• However in this class, only open loop method are considered.

• Two well known open loop tuning method are known as;

• Ziegler Nichols tuning rules (Tuning Formulae are shown in Table 1)

• Cohen Coon tuning rules ( Tuning Formula are shown in Table 2 )
1. 4.1 Ziegler Nichols Tuning formulae

where , K  Process Gain,   Time constant,   Time Delay

Table 1: Ziegler Nichols Tuning Formulae

1. 4.2 Cohen Coon tuning formulae

where , K  Process Gain,   Time constant,   Time Delay

Table 1: Cohen Coon Tuning Formulae

1. 4.3 Determination of Process Gain, Time Constant and Time Delay using
process reaction curve (tangent and point method)

100

90

80

Tangent to inflection point

70

60

A 50
Open Loop output
40
response
63%
30
X
20
Inflection point
10

0
0 0.5 1 1.5 2 2.5 3

  4
x 10

5V
B Input
0V

Change of output response (A)

Process gain, K 
Change of input(B)
 4.4 Example PID design using Ziegler Nichols
tuning rules

The characteristics open loop test for temperature of chemical reactor

with 100% step input are as shown in Figure 5. Design the PID
controller using Ziegler Nichols tuning rules to regulated the
temperature of the reactor at 90 degree celcius.
4.4 Example PID design using Ziegler Nichols
tuning rules

120

110

100

90

80
re
ut
ra
e
p
m
70
Open Loop output
60
e
T response
50

40

30

20
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Time (s)

5V

Input
0V

Figure 5: Open loop characteristics for temperature of chemical reactor

 4.4 Example PID design using Ziegler Nichols
tuning rules

First step: determine time Process gain, Time constant and Time delay

120

112 C
o
110

100

90

80
er
A tu
ar 70 Open Loop output
e
p
m
e 60 Tangent to inflection point response
T
63% 50
X
40
Inflection point
30
26 C
o

20
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Time (s)

 
M
5V
B Input
0V

Figure 6
 4.4 Example PID design using Ziegler Nichols
tuning rules

From the Figure 6

Change of output response (A)
Process gain, K 
Change of input(B)
A=112-26=86
B=5-0=5
86
Process gain, K   17.2
5

Time Delay,  estimated from the graph (Figure 6)  250

Estimated M from the graph (Figure 6)  2050
Therefore the Time constant,  are estimated with
the following formulae :
  M -   2050 - 250  1800
 4.4 Example PID design using Ziegler Nichols
tuning rules

Pr ocess Gain, K  17.2

Time delay,   250
Time constant,   1800
From the value obtained, you can calculate the PID parameter
and develop First order Plus Dead Time (FOPDT) model
of the system
u ( s ) Ke   s

Optional FOPDT model  G ( s )  

r ( s ) s  1
u (s) 17 . 2 e
 250 s

G (s)  
r ( s ) 1800 s  1
 4.4 Example PID design using Ziegler Nichols
tuning rules

Determine the PID parameter from estimated value

of Process gain K, Time Delay,  and Time constant,  .
From formula given for Ziegler Nichols tuning formula shown in Table 1

1.2 1.2(1800)
Proportion al gain, K    0.502326
K 17.2( 250)
P

IntegralTime, T  2  2(250)  500

i

K 0.502326 0.001005
Therefore, Integral Gain, K   p

Ts 500s s
i
i
 4.4 Example PID design using Ziegler Nichols
tuning rules

Derivative Time, T  0.5  0.5(250)  125

d

Therefore, Integral Gain, K  K T s  0.502326(125)s  62.8s

d p d
4.4 Example PID design using Ziegler Nichols
tuning rules

PID Controller

Controller Saturation
0.502326
Plant
r(s)  
E(s) 0.001005  U(s) c(s)
G(s)
_ s

62.8s

Figure 7: Parallel PID Block Diagram

4.4 Example PID design using Ziegler Nichols
tuning rules

or
PID Controller

Controller Saturation
Plant
r (s )  E(s) U(s) c(s )
0.001005 G (s )
0.502326   62.8s
_ s

Figure 8: Parallel PID Block Diagram

 4.4 Example PID design using Ziegler Nichols
tuning rules

Simulation using matlab software (FOPDT model)

Figure 9: Parallel PID Block Diagram in matlab with FOPDT model

4.4 Example PID design using Ziegler Nichols
tuning rules
120

110 Temperature Output, Y(s)

100

90

80
Set-point, R(s)
70

60

50

40

30

20
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
4
x 10

Figure 10: Parallel PID Performance using ZN tuning rules

TABLE 4: Analysis PID performance based on 2% band

Temperature set Settling Time, Percentage

No Rise Time, Tr
point Ts Overshoot
1 90oC 8826 s 1855s 22%
4.4 Example PID design using Ziegler Nichols
tuning rules

The characteristics open loop test for temperature of

chemical reactor with 100% step input are as shown in
Figure 5. Design the PID controller using Ziegler Nichols
tuning rules to regulated the temperature of the reactor at
90 celcius.
The transfer function of the system is described below:

u (s) 0 . 007053
G (s)  
r(s) s  0 . 0001854
 4.4 Example PID design using Ziegler Nichols
tuning rules

Simulation using matlab software (using given model)

Figure 11: Parallel PID Block Diagram in matlab(using given model)

4.4 Example PID design using Ziegler Nichols
tuning rules

140

120
Temperature output, Y(s)

100

80

Set-point, R(s)
60

40

20
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
4
x 10

Figure 12: Parallel PID Block Diagram in matlab using given model
TABLE 5: Analysis PID performance based on 2% band

Temperature set Settling Time, Percentage

No Rise Time, Tr
point Ts Overshoot
1 90oC 10987 s 1761s 43.6%
 5. Suggestion for improved the
transient response

• In order to get better transient response such as, reduction in percentages overshoot or
faster the settling time, several method are suggested;
– Retune PID parameter (try and error) based on calculated value
– Adding anti-windup
– Hybrid with other controller such as fuzzy, neural network for self tuning.
TQ