PID Controller

Why is Controller Necessary?

▪ Blue response resembles an un-controlled system. This response is
oscillatory as well as it takes much longer to settle down.
▪ For a mechanical system, this could be due to Inertia effect, friction,
backlash etc.
▪ The red response is of a controlled system. This response contains no
oscillations and it settles to equilibrium / steady state in lesser time.
▪ The objective of a control system is to “generate a control input / effort
that can be used to drive the un-controlled system, externally, to
achieve the desired performance”.
 Illustration: What does Controller do?

-imaginary

X Undesirable Open Loop Pole Location

X
u X Desired Closed Loop Pole Location

-real X +real

 Control is all about shifting of system poles

u from un-desirable to desirable location.
X
 This shifting is done by the control signal, u,
provided the system allows it i.e. the system is
“controllable”
+imaginary
Analysis of Response: Transient Specifications

Unit Step Response of Second Order System

 Transient Response Specifications
▪ Percentage Overshoot (% O.S): It is the amount that the
response overshoots the steady state, or final, value at the peak
time, expressed as a percentage of the steady-state value.
▪ Rise Time (Tr): Time required for the step response to rise from
10% to 90% of its final value.
▪ Delay Time (Td): Time required for the step response to reach
50% of final value
▪ Settling Time (Ts): Time required for the step response to
decrease and stay within ±2% of its final value
▪ Steady State Error (ess): It is the difference between the output
and the reference input after the steady state has reached.
 Proportional Integral Derivative Control

+ e u
Input ∑ PID Plant Output

Block Diagram of PID Controller

 PID stands for Proportional Integral Derivative Control.

 Being robust & easy to implement, it is one of the most widely used

closed loop control for precise operation of industrial applications and

processes.
 Proportional Control

u(t ) = uP (t ) = K Pe + Offset
 In Proportional Control, the control signal, u, is directly

proportional to the error, e.

 As the gain is increased the system responds faster to changes in

set-point but becomes progressively under damped and eventually

unstable.
Proportional Control Action

P Control Signal
 Proportional Control

Advantages:
 Simple and easy to design and tune

 Rapid Response / Reduces Rise Time

 Reduces Steady State Error

Disadvantages:
 Not possible to eliminate Steady State Error / Offset

 Could lead to instability / rise in overshoot/ oscillations

 Derivative Control

( dt)
u(t ) = uD (t ) = K D de

 Derivative control produces a control signal proportional to the

rate at which the error is changing, also known as rate
controller.
 While sudden/rapid change in error leads to a control signal of
larger magnitude, gradual change leads to small magnitude.
 Even if the error is huge, the derivative control will generate no
signal if the error is constant
 Thus, it is not used alone and used with P control.
Derivative Control Action

D Control Signal
 Derivative Control
Advantages:
 Reduces Settling time; Adds lead

 Reduces Overshoot; Adds more stability

Disadvantages:
 Not possible to eliminate Steady State Error / Offset

 Not possible to use alone

 Excessive use may make the system slow

 Amplifies Noise

Applications:
 In conjunction with P Control
 PD Control

H (s ) = K P + K D s
Where,
K P = Proportional Gain, K D = Derivative Gain

(
u (t ) = u P (t ) + u D (t ) = K P e + K D de
dt
)
 Proportional Derivative (PD) Control helps reduce rise
time, settling time as well as minimize overshoot.
 Integral Control

u (t ) = u I (t ) = K I  edt

 Control signal proportional to integral of error.

 When the error is zero, the control signal is a constant value.
 When the error is constant, the control signal varies at
constant rate.
Integral Control Action

I Control Signal
 Integral Control
Advantages:
 Eliminates steady state error/offset
 Decreases Rise Time
Disadvantages:
 Causes Integral Wind Up (Actuator saturation)
 Leads to minor increase in overshoot
 Could make the system less stable
 Increases Settling time
Applications:
 In conjunction with P Control
 PI Control

H (s ) = K P + K I
s
Where,
K P = Proportional Gain, K I = Integral Gain

u (t ) = u P (t ) + u I (t ) = K P e + K I  edt

 Proportional Integral (PI) Control helps minimise rise time,

settling time as well as eliminate steady state error.

 PID
ud
Kds

Ki ui
s
+
ysp + e +
y
 Kp up
+
 u
plant
-

 Ideal Form

 Derivative Action does not Interact with Integral Action

 Transfer Function of PID
Transer Function :
H (s ) = K P + K I + K D s
s
Where,
K P = Proportional Gain, K I = Integral Gain
K D = Derivative Gain
Control Signal :
u (t ) = u P (t ) + u I (t ) + u D (t )
= K P e + K I  edt + K D de ( dt
)
Where,
e = Error = Difference between reference & measured signal
 Effect of P, I & D on Transient Specifications

Action Rise Overshoot Settling SS

Time Time Error

KP Decrease Increase Small Decrease

Change

KI Decrease Increase Initially Eliminate

Decrease then
Increase

KD Small Decrease Decrease Small

Change Change
 Tuning of PID controllers

1. Trial and error.

2. Ziegler Nichols I
3. Ziegler Nichols II
 PID: Stepwise Procedure for Manual Tuning
Trial and error

1. Obtain an open-loop response and determine what needs to be

improved
2. Add a proportional control to improve the rise time
3. Add a derivative control to improve the overshoot
4. Add an integral control to eliminate the steady-state error
5. Adjust each of P, I & D until you obtain a desired overall
response referring to the table shown previously to find out
which controller controls what characteristics.
6. It is not necessary to implement all three controllers (P, I & D)
into a single system. For example, if a PI controller gives a good
enough response, then you don't need to add D control to the
system. Simple is better.
 Tuning of PID controllers
Ziegler Nichols: First Method

C ( s) Ke − Ls
=
U ( s) Ts + 1

• In the first method, we obtain experimentally the response of the plant to a

unit-step input.
• If the plant involves neither integrator(s) nor dominant complex-conjugate
poles, then such a unit-step response curve may look S-shaped. This method
applies if the response to a step input exhibits an S-shaped curve. Such step-
response curves may be generated experimentally or from a dynamic
simulation of the plant.
 Tuning of PID controllers
Ziegler Nichols: First Method

• The S-shaped curve may be characterized by two constants, delay time L and
time constant T. The delay time and time constant are determined by drawing
a tangent line at the inflection point of the S-shaped curve and determining
the intersections of the tangent line with the time axis and line c(t)=K.
 Tuning of PID controllers
Ziegler Nichols: First Method

Thus, the PID controller has a

pole at the origin and double
zeros at s=–1/L
 Tuning of PID controllers
Ziegler-Nichols: Second Method
• In the second method, we first set Initially assume Ki = Kd = 0 and Using the
proportional control action only, increase Kp from 0 to a critical value Kcr at
which the output first exhibits sustained oscillations. (If the output does not
exhibit sustained oscillations for whatever value Kp may take, then this method
does not apply.)
• The critical gain Kcr and the corresponding period Pcr are experimentally
determined from relation
 Tuning of PID controllers
Ziegler-Nichols: Second Method

Thus, the PID controller has a

pole at the origin and double
zeros at s = -4/Pcr .